split and sort launch file
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d0625eb65e
commit
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9 changed files with 826 additions and 5 deletions
31
rbs_bringup/CMakeLists.txt
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31
rbs_bringup/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
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project(rbs_bringup)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(
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DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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342
rbs_bringup/launch/bringup.launch.py
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342
rbs_bringup/launch/bringup.launch.py
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import os
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from launch import LaunchDescription, LaunchContext
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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ExecuteProcess,
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OpaqueFunction
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)
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from ament_index_python.packages import get_package_share_directory
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from launch.conditions import IfCondition, UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ur_moveit_config.launch_common import load_yaml
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import xacro
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def generate_launch_description():
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declared_arguments = []
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# UR specific arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"rbs_robot_type",
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description="Type of robot by name",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="ur5e",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"with_gripper",
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default_value="false",
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description="With gripper or not?",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"runtime_config_package",
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default_value="ur_moveit_config",
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description='Package with the controller\'s configuration in "config" folder. \
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Usually the argument is not set, it enables use of a custom setup.',
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_with_gripper_file",
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default_value="ur_plus_gripper_controllers.yaml",
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description="YAML file with the UR + gripper_controller configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ur_description",
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description="Description package with robot URDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="ur.urdf.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value='""',
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description="Prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="false",
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description="Enable headless mode for robot control",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="joint_trajectory_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_gripper_controller",
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default_value="gripper_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_package",
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default_value="ur_moveit_config",
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description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom moveit config.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_file",
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default_value="ur.srdf.xacro",
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description="MoveIt SRDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo", default_value="false", description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_mujoco", default_value="true", description="Mujoco Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
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)
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declared_arguments.append(
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DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
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)
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# Initialize Arguments
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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with_gripper_condition = LaunchConfiguration("with_gripper")
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controllers_file = LaunchConfiguration("controllers_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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prefix = LaunchConfiguration("prefix")
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start_joint_controller = LaunchConfiguration("start_joint_controller")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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launch_rviz = LaunchConfiguration("launch_rviz")
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moveit_config_package = LaunchConfiguration("moveit_config_package")
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moveit_config_file = LaunchConfiguration("moveit_config_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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sim_mujoco = LaunchConfiguration("sim_mujoco")
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sim_fake = LaunchConfiguration("sim_fake")
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env_manager = LaunchConfiguration("env_manager")
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare(runtime_config_package), "config", controllers_file]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
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)
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mujoco_model = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "mujoco_model", "current_mj.xml"]
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)
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare(description_package), "urdf", description_file]
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),
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" ",
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"safety_limits:=", safety_limits, " ",
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"safety_pos_margin:=", safety_pos_margin, " ",
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"safety_k_position:=", safety_k_position, " ",
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"name:=", "ur", " ",
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"ur_type:=", rbs_robot_type, " ",
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"prefix:=", prefix, " ",
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"sim_mujoco:=", sim_mujoco, " ",
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"sim_gazebo:=", sim_gazebo, " ",
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"sim_fake:=", sim_fake, " ",
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"simulation_controllers:=", initial_joint_controllers_file_path, " ",
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"with_gripper:=", with_gripper_condition, " ",
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"mujoco_model:=", mujoco_model,
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_state_publisher = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[{"use_sim_time": True}, robot_description],
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)
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rviz = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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parameters=[
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robot_description
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],
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condition=IfCondition(launch_rviz),)
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control = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_bringup'),
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'launch',
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'control.launch.py'
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])
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]),
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launch_arguments={
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'with_gripper': with_gripper_condition,
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'robot_description': robot_description,
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'start_joint_controller': start_joint_controller,
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'initial_joint_controller': initial_joint_controller,
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'controllers_file': controllers_file
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}.items())
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simulation = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_bringup'),
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'launch',
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'simulation.launch.py'
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])
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]),
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launch_arguments={
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'sim_gazebo': sim_gazebo,
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'rbs_robot_type': rbs_robot_type,
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'env_manager': env_manager
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}.items())
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_bringup'),
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'launch',
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'moveit.launch.py'
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])
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]),
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launch_arguments={
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'robot_description': robot_description,
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'moveit_config_package': moveit_config_package,
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'moveit_config_file': moveit_config_file,
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'use_sim_time': use_sim_time,
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'prefix': prefix,
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'with_gripper': with_gripper_condition
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}.items())
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task_planner = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_task_planner'),
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'launch',
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'task_planner.launch.py'
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])
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]),
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launch_arguments={
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# TBD
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}.items())
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task_planner = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_task_planner'),
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'launch',
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'task_planner.launch.py'
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])
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]),
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launch_arguments={
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# TBD
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}.items())
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perception = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_bringup'),
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'launch',
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'perception.launch.py'
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])
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]),
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launch_arguments={
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# TBD
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}.items())
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nodes_to_start = [
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robot_state_publisher,
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rviz,
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control,
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simulation,
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moveit,
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task_planner,
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perception
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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124
rbs_bringup/launch/control.launch.py
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124
rbs_bringup/launch/control.launch.py
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition, UnlessCondition
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"with_gripper",
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default_value="false",
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description="With gripper or not?",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_description",
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default_value="",
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description="robot description param",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="false",
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description="Enable headless mode for robot control",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="joint_trajectory_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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robot_description = LaunchConfiguration("robot_description")
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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controllers_file = LaunchConfiguration("controllers_file")
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start_joint_controller = LaunchConfiguration("start_joint_controller")
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with_gripper_condition = LaunchConfiguration("with_gripper")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare(runtime_config_package), "config", controllers_file]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, initial_joint_controllers_file_path],
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output="both",
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remappings=[
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('motion_control_handle/target_frame', 'target_frame'),
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('cartesian_compliance_controller/target_frame', 'target_frame'),
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('cartesian_compliance_controller/target_wrench', 'target_wrench'),
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('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench'),
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]
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
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)
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# FIXME: Start controllers one controller by one launch or launch it all and switch by runtime?
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initial_joint_controller_spawner_started = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "-c", "/controller_manager"],
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condition=IfCondition(start_joint_controller),
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)
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initial_joint_controller_spawner_stopped = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "-c", "/controller_manager", "--inactive"],
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condition=UnlessCondition(start_joint_controller),
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)
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gripper_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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"gripper_controller"],
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output='screen',
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condition=IfCondition(with_gripper_condition)
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)
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cartesian_motion_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["cartesian_motion_controller", "--inactive", "-c", "/controller_manager"],
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)
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motion_control_handle_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["motion_control_handle", "--inactive", "-c", "/controller_manager"],
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)
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cartesian_compliance_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["cartesian_compliance_controller", "--inactive", "-c", "/controller_manager"],
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)
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nodes_to_start = [
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control_node,
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||||
joint_state_broadcaster_spawner,
|
||||
initial_joint_controller_spawner_started,
|
||||
initial_joint_controller_spawner_stopped,
|
||||
gripper_controller,
|
||||
cartesian_motion_controller_spawner,
|
||||
motion_control_handle_spawner,
|
||||
cartesian_compliance_controller_spawner
|
||||
]
|
||||
|
||||
return LaunchDescription(declared_arguments + nodes_to_start)
|
||||
201
rbs_bringup/launch/moveit.launch.py
Normal file
201
rbs_bringup/launch/moveit.launch.py
Normal file
|
|
@ -0,0 +1,201 @@
|
|||
import os
|
||||
from launch_ros.actions import Node
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
|
||||
from launch.conditions import IfCondition
|
||||
from ur_moveit_config.launch_common import load_yaml
|
||||
|
||||
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
declared_arguments = []
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"robot_description",
|
||||
default_value="",
|
||||
description="robot description param",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"moveit_config_package",
|
||||
default_value="ur_moveit_config",
|
||||
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="ur.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(
|
||||
"prefix",
|
||||
default_value='""',
|
||||
description="Prefix of the joint names, useful for \
|
||||
multi-robot setup. If changed than also joint names in the controllers' configuration \
|
||||
have to be updated.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"with_gripper",
|
||||
default_value="false",
|
||||
description="With gripper or not?",
|
||||
)
|
||||
)
|
||||
|
||||
prefix = LaunchConfiguration("prefix")
|
||||
moveit_config_package = LaunchConfiguration("moveit_config_package")
|
||||
moveit_config_file = LaunchConfiguration("moveit_config_file")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
with_gripper_condition = LaunchConfiguration("with_gripper")
|
||||
robot_description = LaunchConfiguration("robot_description")
|
||||
|
||||
# MoveIt Configuration
|
||||
robot_description_semantic_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
|
||||
), " ",
|
||||
"name:=", "ur", " ",
|
||||
"prefix:=", prefix, " ",
|
||||
"with_gripper:=", with_gripper_condition
|
||||
]
|
||||
)
|
||||
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
|
||||
use_sim_time = {"use_sim_time": use_sim_time}
|
||||
|
||||
world_config_file = PathJoinSubstitution(
|
||||
[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
|
||||
)
|
||||
|
||||
robot_description_kinematics = PathJoinSubstitution(
|
||||
[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
|
||||
)
|
||||
|
||||
# Planning Configuration
|
||||
ompl_planning_pipeline_config = {
|
||||
"move_group": {
|
||||
"planning_plugin": "ompl_interface/OMPLPlanner",
|
||||
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
|
||||
"start_state_max_bounds_error": 0.1,
|
||||
}
|
||||
}
|
||||
ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml")
|
||||
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
|
||||
|
||||
controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
|
||||
|
||||
moveit_controllers = {
|
||||
"moveit_simple_controller_manager": controllers_yaml,
|
||||
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
|
||||
}
|
||||
|
||||
trajectory_execution = {
|
||||
"moveit_manage_controllers": True,
|
||||
"trajectory_execution.allowed_execution_duration_scaling": 100.0,
|
||||
"trajectory_execution.allowed_goal_duration_margin": 0.5,
|
||||
"trajectory_execution.allowed_start_tolerance": 0.01,
|
||||
}
|
||||
|
||||
planning_scene_monitor_parameters = {
|
||||
"publish_planning_scene": True,
|
||||
"publish_geometry_updates": True,
|
||||
"publish_state_updates": True,
|
||||
"publish_transforms_updates": True,
|
||||
}
|
||||
|
||||
move_group_node = Node(
|
||||
package="moveit_ros_move_group",
|
||||
executable="move_group",
|
||||
output="screen",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
ompl_planning_pipeline_config,
|
||||
trajectory_execution,
|
||||
moveit_controllers,
|
||||
planning_scene_monitor_parameters,
|
||||
use_sim_time,
|
||||
],
|
||||
)
|
||||
|
||||
move_topose_action_server = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="move_topose_action_server",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
]
|
||||
)
|
||||
|
||||
gripper_control_node = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="gripper_control_action_server",
|
||||
parameters= [
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
],
|
||||
condition=IfCondition(with_gripper_condition)
|
||||
)
|
||||
|
||||
move_cartesian_path_action_server = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="move_cartesian_path_action_server",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
]
|
||||
)
|
||||
|
||||
move_joint_state_action_server = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="move_to_joint_states_action_server",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
]
|
||||
)
|
||||
|
||||
moveit_planning_scene_init = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="moveit_update_planning_scene_service_server",
|
||||
output="screen",
|
||||
parameters=[
|
||||
{'init_scene': world_config_file},
|
||||
{'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
|
||||
]
|
||||
)
|
||||
nodes_to_start = [
|
||||
move_group_node,
|
||||
move_topose_action_server,
|
||||
gripper_control_node,
|
||||
move_cartesian_path_action_server,
|
||||
move_joint_state_action_server
|
||||
]
|
||||
return LaunchDescription(declared_arguments + nodes_to_start)
|
||||
27
rbs_bringup/launch/perception.launch.py
Normal file
27
rbs_bringup/launch/perception.launch.py
Normal file
|
|
@ -0,0 +1,27 @@
|
|||
from launch_ros.actions import Node
|
||||
from ur_moveit_config.launch_common import load_yaml
|
||||
from launch import LaunchDescription
|
||||
|
||||
def generate_launch_description():
|
||||
declared_arguments = []
|
||||
|
||||
points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")
|
||||
|
||||
grasp_pose_loader = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="pick_place_pose_loader_service_server",
|
||||
output="screen",
|
||||
emulate_tty=True,
|
||||
parameters=[
|
||||
points_params
|
||||
]
|
||||
)
|
||||
grasp_marker = Node(
|
||||
package="rbs_perception",
|
||||
executable="grasp_marker_publish.py",
|
||||
)
|
||||
nodes_to_start = [
|
||||
grasp_pose_loader,
|
||||
grasp_marker
|
||||
]
|
||||
return LaunchDescription(declared_arguments + nodes_to_start)
|
||||
65
rbs_bringup/launch/simulation.launch.py
Normal file
65
rbs_bringup/launch/simulation.launch.py
Normal file
|
|
@ -0,0 +1,65 @@
|
|||
import os
|
||||
from launch_ros.actions import Node
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
|
||||
from launch.conditions import IfCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
declared_arguments = []
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("sim_gazebo", default_value="false", description="Gazebo Simulation")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"rbs_robot_type",
|
||||
description="Type of robot by name",
|
||||
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
|
||||
default_value="ur5e",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
|
||||
)
|
||||
|
||||
sim_gazebo = LaunchConfiguration("sim_gazebo")
|
||||
rbs_robot_type = LaunchConfiguration("rbs_robot_type")
|
||||
env_manager_cond = LaunchConfiguration("env_manager")
|
||||
|
||||
# FIXME: To args when we'll have different files
|
||||
world_config_file = PathJoinSubstitution(
|
||||
[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
|
||||
)
|
||||
# Gazebo nodes
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
[os.path.join(get_package_share_directory('ros_ign_gazebo'),
|
||||
'launch', 'ign_gazebo.launch.py')]),
|
||||
launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])],
|
||||
condition=IfCondition(sim_gazebo))
|
||||
# Spawn robot
|
||||
gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
|
||||
arguments=[
|
||||
'-name', rbs_robot_type,
|
||||
'-x', '0.0',
|
||||
'-z', '0.0',
|
||||
'-y', '0.0',
|
||||
'-topic', '/robot_description'],
|
||||
output='screen',
|
||||
condition=IfCondition(sim_gazebo))
|
||||
|
||||
env_manager = Node(package="env_manager",
|
||||
executable="main",
|
||||
condition=IfCondition(env_manager_cond)
|
||||
)
|
||||
|
||||
nodes_to_start = [
|
||||
gazebo,
|
||||
gazebo_spawn_robot,
|
||||
env_manager
|
||||
]
|
||||
return LaunchDescription(declared_arguments + nodes_to_start)
|
||||
18
rbs_bringup/package.xml
Normal file
18
rbs_bringup/package.xml
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>rbs_bringup</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
Loading…
Add table
Add a link
Reference in a new issue