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Migrate to Gazebo Fortress

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Ilya Uraev 2023-02-03 07:04:12 +00:00 • committed by Igor Brylyov
parent b34c00a9b9
commit e46c7bef74
113 changed files with 2751 additions and 25450 deletions
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77
rasmt_support/launch/rasmt_control.launch.py
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@ -1,6 +1,7 @@
from numpy import load
from launch.launch_description import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import UnlessCondition
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch.conditions import UnlessCondition, IfCondition
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
@ -27,22 +28,23 @@ def generate_launch_description():
# Configure robot_description
robot_description = {"robot_description": LaunchConfiguration("robot_description")}
# Load controllers from YAML configuration file
controller_configurations = PathJoinSubstitution([
FindPackageShare("rasmt_support"),
"config",
"rasmt_ros2_controllers.yaml"
"rasmt_position_velocity_controllers.yaml"
])
# Prepare controller manager and other required nodes
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, controller_configurations],
output="screen",
condition=UnlessCondition(LaunchConfiguration("sim"))
)
# ros2_control_node = Node(
# package="controller_manager",
# executable="ros2_control_node",
# parameters=[robot_description, controller_configurations],
# output={
# "stdout": "screen",
# "stderr": "screen",
# },
# )
robot_state_publisher = Node(
package="robot_state_publisher",
@ -51,33 +53,32 @@ def generate_launch_description():
parameters=[robot_description]
)
joint_state_broadcaster = Node(
package="controller_manager",
executable="spawner.py",
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
)
# action_server_controller_hand_node = Node(
# package="robossembler_servers",
# executable="gripper_cmd_node"
# )
# Load controllers
load_controllers = []
for controller in [
"rasmt_arm_controller",
"rasmt_hand_controller",
"joint_state_broadcaster",
]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_controller --set-state start {}".format(controller)],
shell=True,
output="screen",
)
]
controller_arm = Node(
package="controller_manager",
executable="spawner.py",
arguments=["rasmt_arm_controller", "--controller-manager", "/controller_manager"],
)
controller_hand = Node(
package="controller_manager",
executable="spawner.py",
arguments=["rasmt_hand_controller", "--controller-manager", "/controller_manager"],
)
action_server_controller_hand_node = Node(
package="robossembler_servers",
executable="gripper_cmd_node"
)
return LaunchDescription(
launch_args + [
controller_manager,
robot_state_publisher,
joint_state_broadcaster,
controller_arm,
controller_hand,
action_server_controller_hand_node
])
[
robot_state_publisher
]
+ load_controllers
+ launch_args
)