add support for real robot mode in runtime launch

- Added a new `real_robot` launch argument with default set to "false".
- Updated `launch_setup` to handle `real_robot` configuration, allowing selective use of `rbs_robot_setup`.
- Updated `requirements.txt` to replace a static library reference with a GitHub repository link for `rbs_assets_library`.
This commit is contained in:
Ilya Uraev 2024-12-01 00:54:06 +03:00
parent c4c13d55b1
commit f14359c81c
2 changed files with 19 additions and 1 deletions

View file

@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs):
interactive = LaunchConfiguration("interactive").perform(context)
real_robot = LaunchConfiguration("real_robot").perform(context)
if not scene_config_file == "":
config_file = {"config_file": scene_config_file}
else:
@ -153,9 +155,15 @@ def launch_setup(context, *args, **kwargs):
}.items(),
)
if real_robot == "true":
return [rbs_robot_setup]
rbs_runtime = Node(
package="rbs_runtime",
executable="runtime",
output='log',
emulate_tty=True,
# arguments=[('log_level:=debug')],
parameters=[robot_description, config_file, {"use_sim_time": True}],
)
@ -307,6 +315,14 @@ def generate_launch_description():
description="Wheter to run the motion_control_handle controller",
),
)
declared_arguments.append(
DeclareLaunchArgument(
"real_robot",
default_value="false",
description="Wheter to run on the real robot",
),
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]

View file

@ -26,4 +26,6 @@ wandb>=0.18.6
scenario @ https://devpi.narmak.xyz/narmak/dev/+f/63e/86b0583c22e52/scenario-1.4.0-cp310-cp310-linux_x86_64.whl#sha256=63e86b0583c22e52c299b9a25e74a26178fc7dbc423f661bf34e4dd26543d11f
gym-gz @ https://devpi.narmak.xyz/narmak/dev/+f/539/1f448c1391486/gym_gz-1.4.0-py3-none-any.whl#sha256=5391f448c13914860e2a65904f6d0fac7eba71daaa3327d8399d7ae516471a68
gym-gz-models @ https://devpi.narmak.xyz/narmak/dev/+f/f42/4784934183e88/gym_gz_models-1.2.0-cp310-cp310-linux_x86_64.whl#sha256=f424784934183e88541c703c789315ba6118661bd221a4bf9135c6a0ee012e96
rbs_asstss_library @ https://devpi.narmak.xyz/narmak/dev/+f/c8f/496c000e90a09/rbs_assets_library-0.1.0-py2.py3-none-any.whl#sha256=c8f496c000e90a09efc0731e7cd06a62a48d645d8a801c2f1bc5c3990c23ba6a
# rbs_assets_library
git+https://github.com/solid-sinusoid/rbs_assets_library.git@master