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feat(rbs): refactor controller paths and launch configuration

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- Rename default controllers file `rbs_arm0_controllers.yaml` to `controllers.yaml` across all launch files
- Enhance `runtime.launch.py` by adding imports (`URDF_parser`, `ControllerManager`, `yaml`) and new arguments (`scene_config_file`, `ee_link_name`, `base_link_name`)
  - Implement xacro argument loading via YAML
  - Configure `robot_builder` to save controllers to `controllers.yaml` based on URDF parsing
- Add `control.launch.py` in `rbs_bringup` for dynamic controller spawning based on strategies/configurations
- Add `rbs_bringup.launch.py` as a unified entry point for single robot setup, initializing core settings like gripper, robot type, and controllers
- Remove `launch_env.launch.py`
- Remove `multi_robot.launch.py`
- Enhance `rbs_robot.launch.py` with `ee_link_name` and `base_link_name` arguments for end-effector and base link customization
- Add `ee_link_name` and `base_link_name` to `skills.launch.py` for flexible robot setup in skills
- Update `mtp_jtc_cart.cpp` with `base_link` and `robot_ee_link` parameters for KDL chain retrieval
- Remove `single_robot.launch.py` for simplified single robot deployment
This commit is contained in:
Ilya Uraev 2024-11-12 22:23:12 +03:00
parent a7b7225dd1
commit ea4ae0ed69
13 changed files with 279 additions and 880 deletions
Download patch file Download diff file Expand all files Collapse all files

4
env_manager/rbs_gym/launch/evaluate.launch.py
View file

@ -65,7 +65,7 @@ def launch_setup(context, *args, **kwargs):
launch_simulation = LaunchConfiguration("launch_sim")
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', 'controllers.yaml'
)
single_robot_setup = IncludeLaunchDescription(
@ -176,7 +176,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
default_value="controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)

4
env_manager/rbs_gym/launch/optimize.launch.py
View file

@ -70,7 +70,7 @@ def launch_setup(context, *args, **kwargs):
launch_simulation = LaunchConfiguration("launch_sim")
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', 'controllers.yaml'
)
single_robot_setup = IncludeLaunchDescription(
@ -195,7 +195,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
default_value="controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)

4
env_manager/rbs_gym/launch/test_env.launch.py
View file

@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
launch_simulation = LaunchConfiguration("launch_sim")
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", "controllers.yaml"
)
xacro_file = os.path.join(
@ -158,7 +158,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
default_value="controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)

4
env_manager/rbs_gym/launch/train.launch.py
View file

@ -69,7 +69,7 @@ def launch_setup(context, *args, **kwargs):
launch_simulation = LaunchConfiguration("launch_sim")
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', 'controllers.yaml'
)
single_robot_setup = IncludeLaunchDescription(
@ -196,7 +196,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
default_value="controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)

110
env_manager/rbs_runtime/launch/runtime.launch.py
View file

@ -14,6 +14,10 @@ from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from robot_builder.parser.urdf import URDF_parser
from robot_builder.external.ros2_control import ControllerManager
import yaml
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
@ -29,29 +33,70 @@ def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration("use_sim_time")
hardware = LaunchConfiguration("hardware")
gripper_name = LaunchConfiguration("gripper_name")
scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
initial_joint_controllers_file_path = os.path.join(
get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
if not scene_config_file == "":
config_file = {"config_file": scene_config_file}
else:
config_file = {}
description_package_abs_path = get_package_share_directory(description_package.perform(context))
simulation_controllers = os.path.join(
description_package_abs_path, "config", "controllers.yaml"
)
xacro_file = os.path.join(
get_package_share_directory(description_package.perform(context)),
description_package_abs_path,
"urdf",
description_file.perform(context),
)
robot_description_doc = xacro.process_file(
xacro_file,
mappings={
"gripper_name": gripper_name.perform(context),
"hardware": hardware.perform(context),
"simulation_controllers": initial_joint_controllers_file_path,
"namespace": "",
},
)
xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
# TODO: hide this to another place
# Load xacro_args
def param_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return LaunchConfiguration(value).perform(
local_vars.get("context", "Launch context if not defined")
)
def variable_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return local_vars.get(value, f"Variable '{value}' not found")
def load_xacro_args(yaml_file, local_vars):
# Get valut from ros2 argument
yaml.add_constructor(
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
)
# Get value from local variable in this code
# The local variable should be initialized before the loader was called
yaml.add_constructor(
"!variable",
lambda loader, node: variable_constructor(loader, node, local_vars),
)
with open(yaml_file, "r") as file:
return yaml.load(file, Loader=yaml.FullLoader)
mappings_data = load_xacro_args(xacro_config_file, locals())
robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
robot_description = {"robot_description": robot_description_content}
# Parse robot and configure controller's file for ControllerManager
robot = URDF_parser.load_string(robot_description_content, ee_link_name="gripper_grasp_point")
ControllerManager.save_to_yaml(
robot, description_package_abs_path, "controllers.yaml"
)
rbs_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
@ -64,7 +109,7 @@ def launch_setup(context, *args, **kwargs):
launch_arguments={
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": initial_joint_controllers_file_path,
"controllers_file": simulation_controllers,
"robot_type": robot_type,
"description_package": description_package,
"description_file": description_file,
@ -76,13 +121,15 @@ def launch_setup(context, *args, **kwargs):
"hardware": hardware,
"use_controllers": "true",
"robot_description": robot_description_content,
"base_link_name": base_link_name,
"ee_link_name": ee_link_name
}.items(),
)
rbs_runtime = Node(
package="rbs_runtime",
executable="runtime",
parameters=[robot_description, {"use_sim_time": True}],
parameters=[robot_description, config_file, {"use_sim_time": True}],
)
clock_bridge = Node(
@ -109,13 +156,13 @@ def generate_launch_description():
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm0_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
# declared_arguments.append(
# DeclareLaunchArgument(
# "controllers_file",
# default_value="controllers.yaml",
# description="YAML file with the controllers configuration.",
# )
# )
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
@ -199,6 +246,27 @@ def generate_launch_description():
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"scene_config_file",
default_value="",
description="Path to a scene configuration file",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"ee_link_name",
default_value="",
description="End effector name of robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"base_link_name",
default_value="",
description="Base link name if robot arm",
)
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]

87
rbs_bringup/launch/control.launch.py Normal file
View file

@ -0,0 +1,87 @@
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
# from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
def create_spawner(controller_name, namespace, condition=None, inactive=False):
args = [controller_name, "-c", f"{namespace}/controller_manager"]
if inactive:
args.append("--inactive")
return Node(
package="controller_manager",
executable="spawner",
namespace=namespace,
arguments=args,
condition=condition,
)
def launch_setup(context, *args, **kwargs):
namespace = LaunchConfiguration("namespace").perform(context)
control_strategy = LaunchConfiguration("control_strategy").perform(context)
control_space = LaunchConfiguration("control_space").perform(context)
has_gripper = LaunchConfiguration("has_gripper").perform(context)
interactive_control = LaunchConfiguration("interactive_control").perform(context)
controllers_config = {
"joint_state_broadcaster": True,
"gripper_controller": has_gripper == "true",
"joint_trajectory_controller": control_strategy == "position"
and control_space == "joint",
"cartesian_motion_controller": control_strategy == "position"
and control_space == "task",
"cartesian_force_controller": control_strategy == "effort"
and control_space == "task",
"joint_effort_controller": control_strategy == "effort"
and control_space == "joint",
"force_torque_sensor_broadcaster": control_strategy == "effort"
and control_space == "task",
"motion_control_handle": interactive_control == "true"
and control_space == "task"
and control_strategy == "position",
}
nodes_to_start = []
for controller_name, should_start in controllers_config.items():
if should_start:
nodes_to_start.append(create_spawner(controller_name, namespace))
return nodes_to_start
def generate_launch_description():
declared_arguments = [
DeclareLaunchArgument(
"namespace", default_value="", description="A robot's namespace"
),
DeclareLaunchArgument(
"control_space",
default_value="task",
choices=["task", "joint"],
description="Control type: 'task' for Cartesian, 'joint' for joint space control.",
),
DeclareLaunchArgument(
"control_strategy",
default_value="position",
choices=["position", "velocity", "effort"],
description="Control strategy: 'position', 'velocity', or 'effort'.",
),
DeclareLaunchArgument(
"has_gripper",
default_value="true",
description="Whether to activate the gripper_controller.",
),
DeclareLaunchArgument(
"interactive_control",
default_value="true",
description="Whether to activate the gripper_controller.",
),
]
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)

254
rbs_bringup/launch/launch_env.launch.py
View file

@ -1,254 +0,0 @@
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
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
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
controllers_file = LaunchConfiguration("controllers_file")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_name = LaunchConfiguration("robot_name")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_simulation = LaunchConfiguration("launch_sim")
launch_moveit = LaunchConfiguration("launch_moveit")
launch_task_planner = LaunchConfiguration("launch_task_planner")
launch_perception = LaunchConfiguration("launch_perception")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_config_file = LaunchConfiguration("moveit_config_file")
use_sim_time = LaunchConfiguration("use_sim_time")
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
launch_controllers = LaunchConfiguration("launch_controllers")
gazebo_gui = LaunchConfiguration("gazebo_gui")
gripper_name = LaunchConfiguration("gripper_name")
sim_gazebo = LaunchConfiguration("sim_gazebo")
launch_simulation = LaunchConfiguration("launch_sim")
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)
# spawner = Node(
# package="gz_enviroment_python",
# executable="spawner.py",
# namespace=namespace
# )
single_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('rbs_bringup'),
"launch",
"rbs_robot.launch.py"
])
]),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": controllers_file,
"robot_type": robot_type,
"controllers_file": initial_joint_controllers_file_path,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_name,
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
"launch_moveit": launch_moveit,
"launch_task_planner": launch_task_planner,
"launch_perception": launch_perception,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
"sim_gazebo": sim_gazebo,
"hardware": hardware,
"launch_controllers": "true",
"gazebo_gui": gazebo_gui,
}.items()
)
nodes_to_start = [
# spawner,
single_robot_setup
]
return nodes_to_start
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm","ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="rbs_arm",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="rbs_arm",
description="Description package with robot URDF/XACRO files. Usually the argument \
is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="rbs_arm_modular.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_name",
default_value="arm0",
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="rbs_arm",
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
is not set, it enables use of a custom moveit config.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_file",
default_value="rbs_arm.srdf.xacro",
description="MoveIt SRDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="Make MoveIt to use simulation time.\
This is needed for the trajectory planing in simulation.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gripper_name",
default_value="rbs_gripper",
choices=["rbs_gripper", ""],
description="choose gripper by name (leave empty if hasn't)",
)
)
declared_arguments.append(
DeclareLaunchArgument("with_gripper",
default_value="true",
description="With gripper or not?")
)
declared_arguments.append(
DeclareLaunchArgument("sim_gazebo",
default_value="true",
description="Gazebo Simulation")
)
declared_arguments.append(
DeclareLaunchArgument("env_manager",
default_value="false",
description="Launch env_manager?")
)
declared_arguments.append(
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?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_perception",
default_value="false",
description="Launch perception?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_task_planner",
default_value="false",
description="Launch task_planner?")
)
declared_arguments.append(
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")
)
declared_arguments.append(
DeclareLaunchArgument("launch_controllers",
default_value="true",
description="Launch controllers?")
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui",
default_value="true",
description="Launch gazebo with gui?")
)
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])

292
rbs_bringup/launch/multi_robot.launch.py
View file

@ -1,292 +0,0 @@
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
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
from nav2_common.launch import RewrittenYaml
import os
from ament_index_python import get_package_share_directory
from rbs_launch_utils.merged_yaml import MergedYaml
from rbs_launch_utils.launch_common import load_yaml
import yaml
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
controllers_file = LaunchConfiguration("controllers_file")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_name = LaunchConfiguration("robot_name")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_simulation = LaunchConfiguration("launch_sim")
launch_moveit = LaunchConfiguration("launch_moveit")
launch_task_planner = LaunchConfiguration("launch_task_planner")
launch_perception = LaunchConfiguration("launch_perception")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_config_file = LaunchConfiguration("moveit_config_file")
use_sim_time = LaunchConfiguration("use_sim_time")
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
launch_controllers = LaunchConfiguration("launch_controllers")
gazebo_gui = LaunchConfiguration("gazebo_gui")
gripper_name = LaunchConfiguration("gripper_name")
robots_config_file = LaunchConfiguration("robots_config_file")
gazebo_world_filename = LaunchConfiguration("gazebo_world_filename")
ld = []
ld.append(IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('rbs_simulation'),
'launch',
'simulation_gazebo.launch.py'
])
]),
launch_arguments={
'sim_gazebo': sim_gazebo,
'debugger': "false",
'launch_env_manager': "false",
"gazebo_world_filename": gazebo_world_filename
}.items(),
condition=IfCondition(launch_simulation)
))
scene_file = robots_config_file.perform(context)
robots = load_yaml("rbs_bringup", "config/" + scene_file)
description_package = description_package.perform(context)
controllers_file = controllers_file.perform(context)
config = MergedYaml(context,
os.path.join(get_package_share_directory(description_package), "config", controllers_file),
root_keys=[i["name"] for i in robots["scene_config"]],
param_rewrites={},
convert_types=False,
).merge_yamls()
for robot in robots["scene_config"]:
namespace: str = "/" + robot["name"]
ld.append(IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('rbs_bringup'),
"launch",
"rbs_robot.launch.py"
])
]),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": controllers_file,
"robot_type": robot["type"],
"controllers_file": config,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot["name"],
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
"launch_moveit": launch_moveit,
"launch_task_planner": launch_task_planner,
"launch_perception": launch_perception,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
"sim_gazebo": sim_gazebo,
"hardware": hardware,
"launch_controllers": launch_controllers,
"gazebo_gui": gazebo_gui,
"namespace": namespace,
"x": str(robot["pose"]["position"]["x"]),
"y": str(robot["pose"]["position"]["y"]),
"z": str(robot["pose"]["position"]["z"]),
"roll": str(robot["pose"]["orientation"]["x"]),
"pitch": str(robot["pose"]["orientation"]["y"]),
"yaw": str(robot["pose"]["orientation"]["z"]),
}.items()
))
gz_spawner = Node(
package='ros_gz_sim',
executable='create',
arguments=[
'-name', robot_name,
# '-x', str(robot["pose"]["position"]["x"]),
# '-y', str(robot["pose"]["position"]["y"]),
# '-z', str(robot["pose"]["position"]["z"]),
# '-R', str(robot["pose"]["orientation"]["x"]),
# '-P', str(robot["pose"]["orientation"]["y"]),
# '-Y', str(robot["pose"]["orientation"]["z"]),
'-topic', namespace + '/robot_description'],
output='screen',
condition=IfCondition(sim_gazebo))
ld.append(gz_spawner)
return ld
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm","ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="rbs_arm",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="rbs_arm",
description="Description package with robot URDF/XACRO files. Usually the argument \
is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="rbs_arm_modular.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_name",
default_value="arm0",
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="rbs_arm",
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
is not set, it enables use of a custom moveit config.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_file",
default_value="rbs_arm.srdf.xacro",
description="MoveIt SRDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="Make MoveIt to use simulation time.\
This is needed for the trajectory planing in simulation.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gripper_name",
default_value="rbs_gripper",
choices=["rbs_gripper", ""],
description="choose gripper by name (leave empty if hasn't)",
)
)
declared_arguments.append(
DeclareLaunchArgument("with_gripper",
default_value="true",
description="With gripper or not?")
)
declared_arguments.append(
DeclareLaunchArgument("sim_gazebo",
default_value="true",
description="Gazebo Simulation")
)
declared_arguments.append(
DeclareLaunchArgument("env_manager",
default_value="false",
description="Launch env_manager?")
)
declared_arguments.append(
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?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_perception",
default_value="false",
description="Launch perception?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_task_planner",
default_value="false",
description="Launch task_planner?")
)
declared_arguments.append(
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")
)
declared_arguments.append(
DeclareLaunchArgument("launch_controllers",
default_value="true",
description="Launch controllers?")
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui",
default_value="true",
description="Launch gazebo with gui?")
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_world_filename",
default_value="asm2.sdf",
description="Filename of Gazebo world file to launch")
)
declared_arguments.append(
DeclareLaunchArgument("robots_config_file",
default_value="roboclone.yaml",
description="Filename for config file with robots in scene")
)
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])

52
rbs_bringup/launch/rbs_bringup.launch.py Normal file
View file

@ -0,0 +1,52 @@
from launch import LaunchDescription
from launch.actions import (
IncludeLaunchDescription,
OpaqueFunction,
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import (
PathJoinSubstitution,
)
from launch_ros.substitutions import FindPackageShare
def launch_setup(context, *args, **kwargs):
main_script = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[FindPackageShare("rbs_runtime"), "launch", "runtime.launch.py"]
)
]
),
launch_arguments={
"with_gripper": "true",
"gripper_name": "rbs_gripper",
"robot_type": "rbs_arm",
"description_package": "rbs_arm",
"description_file": "rbs_arm_modular.xacro",
"robot_name": "rbs_arm",
"use_moveit": "false",
"moveit_config_package": "rbs_arm",
"moveit_config_file": "rbs_arm.srdf.xacro",
"use_sim_time": "true",
"hardware": "gazebo",
"use_controllers": "true",
"scene_config_file": "",
"base_link_name": "base_link",
"ee_link_name": "gripper_grasp_point",
}.items(),
)
nodes_to_start = [
main_script,
]
return nodes_to_start
def generate_launch_description():
declared_arguments = []
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)

25
rbs_bringup/launch/rbs_robot.launch.py
View file

@ -53,6 +53,8 @@ def launch_setup(context, *args, **kwargs):
robot_description_semantic = LaunchConfiguration("robot_description_semantic")
control_space = LaunchConfiguration("control_space")
control_strategy = LaunchConfiguration("control_strategy")
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
remappings = []
if multi_robot == "true":
@ -141,7 +143,7 @@ def launch_setup(context, *args, **kwargs):
[
PathJoinSubstitution(
[
FindPackageShare(description_package),
FindPackageShare("rbs_bringup"),
"launch",
"control.launch.py",
]
@ -202,6 +204,8 @@ def launch_setup(context, *args, **kwargs):
"with_gripper_condition": with_gripper_condition,
"namespace": namespace,
"use_moveit": use_moveit,
"ee_link_name": ee_link_name,
"base_link_name": base_link_name,
}.items(),
)
@ -221,14 +225,14 @@ def generate_launch_description():
DeclareLaunchArgument(
"robot_type",
description="Type of robot to launch, specified by name.",
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
choices=["rbs_arm", "ar4", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="rbs_arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm0_controllers.yaml",
default_value="controllers.yaml",
description="YAML file containing configuration settings for the controllers.",
)
)
@ -397,6 +401,21 @@ def generate_launch_description():
description="Custom semantic robot description (SRDF) to override the default.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"ee_link_name",
default_value="",
description="End effector name of robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"base_link_name",
default_value="",
description="Base link name if robot arm",
)
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]

301
rbs_bringup/launch/single_robot.launch.py
View file

@ -1,301 +0,0 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
controllers_file = LaunchConfiguration("controllers_file")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_name = LaunchConfiguration("robot_name")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_simulation = LaunchConfiguration("launch_sim")
launch_moveit = LaunchConfiguration("launch_moveit")
launch_task_planner = LaunchConfiguration("launch_task_planner")
launch_perception = LaunchConfiguration("launch_perception")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_config_file = LaunchConfiguration("moveit_config_file")
use_sim_time = LaunchConfiguration("use_sim_time")
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
launch_controllers = LaunchConfiguration("launch_controllers")
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",
]
)
]
),
launch_arguments={
"sim_gazebo": sim_gazebo,
"debugger": "false",
"launch_env_manager": env_manager,
"gazebo_world_filename": "asm2.sdf",
}.items(),
condition=IfCondition(launch_simulation),
)
# 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)
# controller_paramfile = PathJoinSubstitution([
# FindPackageShare(robot_type), "config", "rbs_arm0_controllers.yaml"
# ])
# namespace = "/" + robot_name.perform(context)
namespace = ""
gz_spawner = Node(
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),
)
single_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
)
]
),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": initial_joint_controllers_file_path,
"robot_type": robot_type,
# "controllers_file": controller_paramfile,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_type,
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
"launch_moveit": launch_moveit,
"launch_task_planner": launch_task_planner,
"launch_perception": launch_perception,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
"sim_gazebo": sim_gazebo,
"hardware": hardware,
"launch_controllers": "true",
"gazebo_gui": gazebo_gui,
# "x": "0.5",
# "y": "0.5",
# "z": "0.5"
}.items(),
)
nodes_to_start = [simulation, gz_spawner, single_robot_setup]
return nodes_to_start
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="rbs_arm",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm0_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="rbs_arm",
description="Description package with robot URDF/XACRO files. Usually the argument \
is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="rbs_arm_modular.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_name",
default_value="arm0",
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="rbs_arm",
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
is not set, it enables use of a custom moveit config.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_file",
default_value="rbs_arm.srdf.xacro",
description="MoveIt SRDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="Make MoveIt to use simulation time.\
This is needed for the trajectory planing in simulation.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gripper_name",
default_value="rbs_gripper",
choices=["rbs_gripper", ""],
description="choose gripper by name (leave empty if hasn't)",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"with_gripper", default_value="true", description="With gripper or not?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"sim_gazebo", default_value="true", description="Gazebo Simulation"
)
)
declared_arguments.append(
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",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_moveit", default_value="false", description="Launch moveit?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_perception", default_value="false", description="Launch perception?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_task_planner",
default_value="false",
description="Launch task_planner?",
)
)
declared_arguments.append(
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",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_controllers",
default_value="true",
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
)
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)

10
rbs_skill_servers/launch/skills.launch.py
View file

@ -13,6 +13,8 @@ def launch_setup(context, *args, **kwargs):
robot_description_kinematics = LaunchConfiguration("robot_description_kinematics")
use_sim_time = LaunchConfiguration("use_sim_time")
use_moveit = LaunchConfiguration("use_moveit")
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
# with_gripper_condition = LaunchConfiguration("with_gripper_condition")
robot_description = {"robot_description": robot_description_decl}
@ -64,6 +66,8 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{"use_sim_time": use_sim_time},
{"robot_name": namespace},
{"base_link": base_link_name},
{"robot_ee_link": ee_link_name},
robot_description,
],
),
@ -136,6 +140,12 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument("namespace", default_value="")
)
declared_arguments.append(
DeclareLaunchArgument("ee_link_name", default_value="")
)
declared_arguments.append(
DeclareLaunchArgument("base_link_name", default_value="")
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)

12
rbs_skill_servers/src/mtp_jtc_cart.cpp
View file

@ -59,6 +59,8 @@ public:
std::placeholders::_1),
s_options);
this->declare_parameter("robot_description", "");
this->declare_parameter("base_link", "");
this->declare_parameter("robot_ee_link", "");
auto robot_description =
this->get_parameter("robot_description").as_string();
@ -70,7 +72,15 @@ public:
throw std::runtime_error("KDL Tree initialization failed");
}
if (!kdl_tree.getChain("base_link", "gripper_grasp_point", m_kdl_chain)) {
auto base_link = this->get_parameter("base_link").as_string();
auto robot_ee_link = this->get_parameter("robot_ee_link").as_string();
if (base_link.empty() or robot_ee_link.empty()) {
RCLCPP_ERROR(this->get_logger(),
"Describe robot end-effector link and base link to continue");
throw std::runtime_error("Describe robot end-effector link and base link to continue");
}
if (!kdl_tree.getChain(base_link, robot_ee_link, m_kdl_chain)) {
RCLCPP_ERROR(this->get_logger(),
"Failed to obtain KDL chain from base to end-effector.");
throw std::runtime_error("KDL Chain initialization failed");