refactoring repo
This commit is contained in:
parent
6fa469be36
commit
f76340d78a
68 changed files with 5 additions and 6275 deletions
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@ -281,7 +281,7 @@ def generate_launch_description():
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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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FindPackageShare('ur_description'),
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'launch',
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'control.launch.py'
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])
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@ -297,7 +297,7 @@ def generate_launch_description():
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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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FindPackageShare('rbs_simulation'),
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'launch',
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'simulation.launch.py'
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])
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@ -312,7 +312,7 @@ def generate_launch_description():
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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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FindPackageShare('ur_moveit_config'),
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'launch',
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'moveit.launch.py'
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])
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@ -344,7 +344,7 @@ def generate_launch_description():
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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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FindPackageShare('rbs_perception'),
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'launch',
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'perception.launch.py'
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])
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@ -1,125 +0,0 @@
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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_content = 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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robot_description = {"robot_description": robot_description_content}
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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,
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initial_joint_controller_spawner_started,
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initial_joint_controller_spawner_stopped,
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gripper_controller,
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cartesian_motion_controller_spawner,
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motion_control_handle_spawner,
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cartesian_compliance_controller_spawner
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -1,198 +0,0 @@
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import os
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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
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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
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from ur_moveit_config.launch_common import load_yaml
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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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"robot_description",
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default_value="",
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description="robot description string",
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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_semantic",
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default_value="",
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description="robot description semantic string",
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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(
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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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"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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prefix = LaunchConfiguration("prefix")
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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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with_gripper_condition = LaunchConfiguration("with_gripper")
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robot_description_content = LaunchConfiguration("robot_description")
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robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
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robot_description = {"robot_description": robot_description_content}
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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use_sim_time = {"use_sim_time": use_sim_time}
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
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)
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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)
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# Planning Configuration
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ompl_planning_pipeline_config = {
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"move_group": {
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"planning_plugin": "ompl_interface/OMPLPlanner",
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"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""",
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"start_state_max_bounds_error": 0.1,
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}
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}
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ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml")
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ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
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controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
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moveit_controllers = {
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"moveit_simple_controller_manager": controllers_yaml,
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"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
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}
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trajectory_execution = {
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"moveit_manage_controllers": True,
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"trajectory_execution.allowed_execution_duration_scaling": 100.0,
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"trajectory_execution.allowed_goal_duration_margin": 0.5,
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"trajectory_execution.allowed_start_tolerance": 0.01,
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}
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planning_scene_monitor_parameters = {
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"publish_planning_scene": True,
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"publish_geometry_updates": True,
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"publish_state_updates": True,
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"publish_transforms_updates": True,
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}
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move_group_node = Node(
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package="moveit_ros_move_group",
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executable="move_group",
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output="screen",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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use_sim_time,
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],
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)
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move_topose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_topose_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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use_sim_time,
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]
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)
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gripper_control_node = Node(
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package="rbs_skill_servers",
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executable="gripper_control_action_server",
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parameters= [
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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use_sim_time,
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],
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condition=IfCondition(with_gripper_condition)
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)
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move_cartesian_path_action_server = Node(
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package="rbs_skill_servers",
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executable="move_cartesian_path_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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use_sim_time,
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]
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)
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move_joint_state_action_server = Node(
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package="rbs_skill_servers",
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executable="move_to_joint_states_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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use_sim_time,
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]
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)
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moveit_planning_scene_init = Node(
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package="rbs_skill_servers",
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executable="moveit_update_planning_scene_service_server",
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output="screen",
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parameters=[
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{'init_scene': world_config_file},
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{'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
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]
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)
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nodes_to_start = [
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move_group_node,
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move_topose_action_server,
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gripper_control_node,
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move_cartesian_path_action_server,
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move_joint_state_action_server,
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moveit_planning_scene_init
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -1,27 +0,0 @@
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from launch_ros.actions import Node
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from ur_moveit_config.launch_common import load_yaml
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from launch import LaunchDescription
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def generate_launch_description():
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declared_arguments = []
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points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")
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grasp_pose_loader = Node(
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package="rbs_skill_servers",
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executable="pick_place_pose_loader_service_server",
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output="screen",
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emulate_tty=True,
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parameters=[
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points_params
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]
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)
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grasp_marker = Node(
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package="rbs_perception",
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executable="grasp_marker_publish.py",
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)
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nodes_to_start = [
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grasp_pose_loader,
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grasp_marker
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -1,65 +0,0 @@
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import os
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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, IncludeLaunchDescription
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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
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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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("sim_gazebo", default_value="false", description="Gazebo Simulation")
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)
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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("env_manager", default_value="false", description="Launch env_manager?")
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)
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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env_manager_cond = LaunchConfiguration("env_manager")
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# FIXME: To args when we'll have different files
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
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)
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# Gazebo nodes
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_ign_gazebo'),
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'launch', 'ign_gazebo.launch.py')]),
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launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])],
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condition=IfCondition(sim_gazebo))
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# Spawn robot
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gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
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arguments=[
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'-name', rbs_robot_type,
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'-x', '0.0',
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'-z', '0.0',
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'-y', '0.0',
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'-topic', '/robot_description'],
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output='screen',
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condition=IfCondition(sim_gazebo))
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env_manager = Node(package="env_manager",
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executable="env_manager_node",
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condition=IfCondition(env_manager_cond)
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)
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nodes_to_start = [
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gazebo,
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gazebo_spawn_robot,
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env_manager
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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