Migrate to Gazebo Fortress
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113 changed files with 2751 additions and 25450 deletions
389
rbs_simulation/launch/rbs_simulation.launch.py
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389
rbs_simulation/launch/rbs_simulation.launch.py
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import os
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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OpaqueFunction,
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RegisterEventHandler,
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)
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from ament_index_python.packages import get_package_share_directory, get_package_share_path
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from launch.conditions import IfCondition, UnlessCondition
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ur_moveit_config.launch_common import load_yaml
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def generate_launch_description():
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declared_arguments = []
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# UR specific arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"rbs_robot_type",
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description="Type of robot by name",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="ur5e",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"runtime_config_package",
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default_value="ur_moveit_config",
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description='Package with the controller\'s configuration in "config" folder. \
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Usually the argument is not set, it enables use of a custom setup.',
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ur_description",
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description="Description package with robot URDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="ur.urdf.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value='""',
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description="Prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="true",
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description="Enable headless mode for robot control",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="joint_trajectory_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_package",
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default_value="ur_moveit_config",
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description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom moveit config.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_file",
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default_value="ur.srdf.xacro",
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description="MoveIt SRDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
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)
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# Initialize Arguments
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# TODO тут всё переименовать и сделать боеле универсальным как под нашего робото так и под UR чтобы запускалось одинаково
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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controllers_file = LaunchConfiguration("controllers_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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prefix = LaunchConfiguration("prefix")
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start_joint_controller = LaunchConfiguration("start_joint_controller")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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launch_rviz = LaunchConfiguration("launch_rviz")
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moveit_config_package = LaunchConfiguration("moveit_config_package")
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moveit_config_file = LaunchConfiguration("moveit_config_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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initial_joint_controllers = PathJoinSubstitution(
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[FindPackageShare(runtime_config_package), "config", controllers_file]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
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)
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("sdf_models"), "worlds", "empty_world.sdf"] # TODO тут пакет извне должен задаваться
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)
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print(world_config_file)
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare(description_package), "urdf", description_file]
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),
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" ",
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"safety_limits:=",
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safety_limits,
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" ",
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"safety_pos_margin:=",
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safety_pos_margin,
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" ",
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"safety_k_position:=",
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safety_k_position,
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" ",
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"name:=",
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"ur",
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" ",
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"ur_type:=", # TODO сделать более универсальным
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rbs_robot_type,
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" ",
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"prefix:=",
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prefix,
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" ",
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"sim_ignition:=true",
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" ",
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"simulation_controllers:=",
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initial_joint_controllers,
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[{"use_sim_time": True}, robot_description],
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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# There may be other controllers of the joints, but this is the initially-started one
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initial_joint_controller_spawner_started = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "--controller-manager", "/controller_manager"],
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condition=IfCondition(start_joint_controller),
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)
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initial_joint_controller_spawner_stopped = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "--controller-manager", "/controller_manager", "--stopped"],
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condition=UnlessCondition(start_joint_controller),
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)
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# Gazebo nodes
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_path('ros_ign_gazebo'), 'launch', 'ign_gazebo.launch.py')),
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launch_arguments={'ign_args': ['-r'," ", world_config_file]}.items(),
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)
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# Spawn robot
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gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
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arguments=[
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'-name', rbs_robot_type,
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'-x', '0.0',
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'-z', '0.0',
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'-y', '0.0',
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'-topic', '/robot_description'],
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output='screen')
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# MoveIt Configuration
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robot_description_semantic_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
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),
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" ",
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"name:=",
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"ur",
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" ",
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"prefix:=",
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prefix,
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" ",
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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)
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# robot_description_planning = {
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# "robot_description_planning": load_yaml_abs(str(joint_limit_params.perform(context)))
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# }
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# Planning Configuration
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ompl_planning_pipeline_config = {
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"move_group": {
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"planning_plugin": "ompl_interface/OMPLPlanner",
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"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
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"start_state_max_bounds_error": 0.1,
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}
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}
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ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml") # TODO сделать извне
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ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
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# Trajectory Execution Configuration
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controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
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# the scaled_joint_trajectory_controller does not work on fake hardware
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change_controllers = True
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if change_controllers == "true":
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controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
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controllers_yaml["joint_trajectory_controller"]["default"] = True
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moveit_controllers = {
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"moveit_simple_controller_manager": controllers_yaml,
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"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
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}
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trajectory_execution = {
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"moveit_manage_controllers": True,
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"trajectory_execution.allowed_execution_duration_scaling": 1.2,
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"trajectory_execution.allowed_goal_duration_margin": 0.5,
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"trajectory_execution.allowed_start_tolerance": 0.01,
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}
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planning_scene_monitor_parameters = {
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"publish_planning_scene": True,
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"publish_geometry_updates": True,
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"publish_state_updates": True,
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"publish_transforms_updates": True,
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}
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# Start the actual move_group node/action server
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move_group_node = Node(
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package="moveit_ros_move_group",
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executable="move_group",
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output="screen",
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name="move_group",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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# robot_description_planning,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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{"use_sim_time": use_sim_time},
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],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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parameters=[
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robot_description,
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robot_description_semantic,
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ompl_planning_pipeline_config,
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robot_description_kinematics,
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# robot_description_planning,
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],
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condition=IfCondition(launch_rviz),
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)
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move_topose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_topose_action_server",
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name="move_to_pose_moveit",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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# robot_description_planning,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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{"use_sim_time": use_sim_time},
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]
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)
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move_cartesian_path_action_server = Node(
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package="rbs_skill_servers",
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executable="move_cartesian_path_action_server",
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name="move_cartesian_path_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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# robot_description_planning,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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{"use_sim_time": use_sim_time},
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]
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)
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nodes_to_start = [
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robot_state_publisher_node,
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joint_state_broadcaster_spawner,
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rviz_node,
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initial_joint_controller_spawner_stopped,
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initial_joint_controller_spawner_started,
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gazebo,
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gazebo_spawn_robot,
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move_group_node,
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move_topose_action_server,
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move_cartesian_path_action_server
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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