feat(rbs): refactor controller paths and launch configuration

- 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

env_manager/rbs_gym/launch/evaluate.launch.py

@@ -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.",
         )
     )

env_manager/rbs_gym/launch/optimize.launch.py

@@ -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.",
         )
     )

env_manager/rbs_gym/launch/test_env.launch.py

@@ -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.",
         )
     )

env_manager/rbs_gym/launch/train.launch.py

@@ -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.",
         )
     )

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -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
@@ -29,30 +33,71 @@ 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(
+    ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
-        get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
+    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_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
-        xacro_file,
+
-        mappings={
+    # TODO: hide this to another place
-            "gripper_name": gripper_name.perform(context),
+    # Load xacro_args
-            "hardware": hardware.perform(context),
+    def param_constructor(loader, node, local_vars):
-            "simulation_controllers": initial_joint_controllers_file_path,
+        value = loader.construct_scalar(node)
-            "namespace": "",
+        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(
+    # declared_arguments.append(
-        DeclareLaunchArgument(
+    #     DeclareLaunchArgument(
-            "controllers_file",
+    #         "controllers_file",
-            default_value="rbs_arm0_controllers.yaml",
+    #         default_value="controllers.yaml",
-            description="YAML file with the controllers configuration.",
+    #         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)]

rbs_bringup/launch/control.launch.py

@@ -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)]
+    )

rbs_bringup/launch/launch_env.launch.py

@@ -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)])

rbs_bringup/launch/multi_robot.launch.py

@@ -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)])

rbs_bringup/launch/rbs_bringup.launch.py

@@ -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)]
+    )

rbs_bringup/launch/rbs_robot.launch.py

@@ -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)]

rbs_bringup/launch/single_robot.launch.py

@@ -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)]
-    )

rbs_skill_servers/launch/skills.launch.py

@@ -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)]
     )

rbs_skill_servers/src/mtp_jtc_cart.cpp

@@ -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");