robossembler/runtime
7
0
Fork 0
Code Issues 5 Pull requests Projects Releases Packages Wiki Activity Actions

add external robot_description parameter for rbs_robot.launch.py

Browse source 
feat(robot): add support for handling scalar joint positions

- Updated `RobotData` and `RbsArm` to allow joint positions to be passed
as either a list or a scalar value.
- Refactored logic to dynamically handle scalar values and repeat them
across all joints.
- Added new `initial_arm_joint_positions` and
`initial_gripper_joint_positions` properties in `RbsArm`.
- Improved joint position initialization in the `Scene` class to
retrieve robot description asynchronously if not provided.
- Enhanced the launch script to configure environment variables based on
available CPU cores.
- Minor code cleanups and bug fixes, including terrain naming and
corrected joint defaultsd.

git commit --amend
This commit is contained in:
Ilya Uraev 2024-09-25 12:11:17 +03:00
parent bc8745abe5
commit e4e3e4e3af
18 changed files with 686 additions and 342 deletions
Download patch file Download diff file Expand all files Collapse all files

176
rbs_bringup/launch/single_robot.launch.py
View file

@ -1,17 +1,18 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction
OpaqueFunction,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
import os
from ament_index_python.packages import get_package_share_directory
# from nav2_common.launch import RewrittenYaml
from launch_ros.substitutions import FindPackageShare
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
@ -39,32 +40,35 @@ def launch_setup(context, *args, **kwargs):
gazebo_gui = LaunchConfiguration("gazebo_gui")
gripper_name = LaunchConfiguration("gripper_name")
sim_gazebo = LaunchConfiguration("sim_gazebo")
launch_simulation = LaunchConfiguration("launch_sim")
simulation = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('rbs_simulation'),
'launch',
'simulation_gazebo.launch.py'
])
]),
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[
FindPackageShare("rbs_simulation"),
"launch",
"simulation_gazebo.launch.py",
]
)
]
),
launch_arguments={
'sim_gazebo': sim_gazebo,
'debugger': "false",
'launch_env_manager': env_manager,
'gazebo_world_filename': "asm2.sdf"
"sim_gazebo": sim_gazebo,
"debugger": "false",
"launch_env_manager": env_manager,
"gazebo_world_filename": "asm2.sdf",
}.items(),
condition=IfCondition(launch_simulation)
condition=IfCondition(launch_simulation),
)
# FIXME: namespaces
# configured_params = RewrittenYaml(
# source_file=os.path.join(
# get_package_share_directory(
# description_package.perform(context)),
# "config",
# description_package.perform(context)),
# "config",
# controllers_file.perform(context)),
# root_key=robot_name.perform(context),
# param_rewrites={},
@ -72,34 +76,38 @@ def launch_setup(context, *args, **kwargs):
# )
initial_joint_controllers_file_path = os.path.join(
get_package_share_directory('rbs_arm'), 'config', 'rbs_arm0_controllers.yaml'
get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
)
# controller_paramfile = configured_params.perform(context)
# controller_paramfile = PathJoinSubstitution([
# FindPackageShare(robot_type), "config", "rbs_arm0_controllers.yaml"
# ])
# namespace = "/" + robot_name.perform(context)
# namespace = "/" + robot_name.perform(context)
namespace = ""
gz_spawner = Node(
package='ros_gz_sim',
executable='create',
package="ros_gz_sim",
executable="create",
# prefix=['gdbserver localhost:1234'],
arguments=[
'-name', robot_name.perform(context),
'-topic', namespace + '/robot_description'],
output='screen',
condition=IfCondition(sim_gazebo))
"-name",
robot_name.perform(context),
"-topic",
namespace + "/robot_description",
],
output="screen",
condition=IfCondition(sim_gazebo),
)
single_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('rbs_bringup'),
"launch",
"rbs_robot.launch.py"
])
]),
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
)
]
),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
@ -127,14 +135,10 @@ def launch_setup(context, *args, **kwargs):
# "x": "0.5",
# "y": "0.5",
# "z": "0.5"
}.items()
}.items(),
)
nodes_to_start = [
simulation,
gz_spawner,
single_robot_setup
]
nodes_to_start = [simulation, gz_spawner, single_robot_setup]
return nodes_to_start
@ -144,7 +148,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm","ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="rbs_arm",
)
)
@ -224,62 +228,74 @@ def generate_launch_description():
)
)
declared_arguments.append(
DeclareLaunchArgument("with_gripper",
default_value="true",
description="With gripper or not?")
DeclareLaunchArgument(
"with_gripper", default_value="true", description="With gripper or not?"
)
)
declared_arguments.append(
DeclareLaunchArgument("sim_gazebo",
default_value="true",
description="Gazebo Simulation")
DeclareLaunchArgument(
"sim_gazebo", default_value="true", description="Gazebo Simulation"
)
)
declared_arguments.append(
DeclareLaunchArgument("env_manager",
default_value="true",
description="Launch env_manager?")
DeclareLaunchArgument(
"env_manager", default_value="true", description="Launch env_manager?"
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_sim",
default_value="true",
description="Launch simulator (Gazebo)?\
Most general arg")
DeclareLaunchArgument(
"launch_sim",
default_value="true",
description="Launch simulator (Gazebo)?\
Most general arg",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_moveit",
default_value="false",
description="Launch moveit?")
DeclareLaunchArgument(
"launch_moveit", default_value="false", description="Launch moveit?"
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_perception",
default_value="false",
description="Launch perception?")
DeclareLaunchArgument(
"launch_perception", default_value="false", description="Launch perception?"
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_task_planner",
default_value="false",
description="Launch task_planner?")
DeclareLaunchArgument(
"launch_task_planner",
default_value="false",
description="Launch task_planner?",
)
)
declared_arguments.append(
DeclareLaunchArgument("cartesian_controllers",
default_value="true",
description="Load cartesian\
controllers?")
DeclareLaunchArgument(
"cartesian_controllers",
default_value="true",
description="Load cartesian\
controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument("hardware",
choices=["gazebo", "mock"],
default_value="gazebo",
description="Choose your harware_interface")
DeclareLaunchArgument(
"hardware",
choices=["gazebo", "mock"],
default_value="gazebo",
description="Choose your harware_interface",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_controllers",
default_value="true",
description="Launch controllers?")
DeclareLaunchArgument(
"launch_controllers",
default_value="true",
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui",
default_value="true",
description="Launch gazebo with gui?")
DeclareLaunchArgument(
"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
)
)
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)