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update main

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This commit is contained in:
Ilya Uraev 2024-04-22 15:06:46 +03:00
parent d5e7768d90
commit e8ea09e020
20 changed files with 315 additions and 168 deletions
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42
rbs_bringup/launch/single_robot.launch.py
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@ -58,27 +58,31 @@ def launch_setup(context, *args, **kwargs):
condition=IfCondition(launch_simulation)
)
configured_params = RewrittenYaml(
source_file=os.path.join(
get_package_share_directory(
description_package.perform(context)),
"config",
controllers_file.perform(context)),
root_key=robot_name.perform(context),
param_rewrites={},
convert_types=True,
# FIXME: namespaces
# configured_params = RewrittenYaml(
# source_file=os.path.join(
# get_package_share_directory(
# description_package.perform(context)),
# "config",
# controllers_file.perform(context)),
# root_key=robot_name.perform(context),
# param_rewrites={},
# convert_types=True,
# )
initial_joint_controllers_file_path = os.path.join(
get_package_share_directory('rbs_arm'), 'config', 'rbs_arm0_controllers.yaml'
)
controller_paramfile = configured_params.perform(context)
namespace = "/" + robot_name.perform(context)
# controller_paramfile = configured_params.perform(context)
# namespace = "/" + robot_name.perform(context)
namespace = ""
gz_spawner = Node(
package='ros_gz_sim',
executable='create',
arguments=[
'-name', robot_name.perform(context),
'-x', "0.5",
'-y', "0.5",
'-z', "0.0",
'-topic', namespace + '/robot_description'],
output='screen',
condition=IfCondition(sim_gazebo))
@ -97,11 +101,11 @@ def launch_setup(context, *args, **kwargs):
"gripper_name": gripper_name,
"controllers_file": controllers_file,
"robot_type": robot_type,
"controllers_file": controller_paramfile,
"controllers_file": initial_joint_controllers_file_path,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_name,
"robot_name": robot_type,
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
@ -115,9 +119,9 @@ def launch_setup(context, *args, **kwargs):
"hardware": hardware,
"launch_controllers": "true",
"gazebo_gui": gazebo_gui,
"x": "0.5",
"y": "0.5",
"z": "0.5"
# "x": "0.5",
# "y": "0.5",
# "z": "0.5"
}.items()
)