split and sort launch file
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9 changed files with 826 additions and 5 deletions
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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