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refactoring repo

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This commit is contained in:
Ilya Uraev 2023-07-26 14:20:06 +03:00
parent 6fa469be36
commit f76340d78a
68 changed files with 5 additions and 6275 deletions
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125
rbs_bringup/launch/control.launch.py
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@ -1,125 +0,0 @@
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch.conditions import IfCondition, UnlessCondition
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"with_gripper",
default_value="false",
description="With gripper or not?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_description",
default_value="",
description="robot description param",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="ur_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
robot_description_content = LaunchConfiguration("robot_description")
runtime_config_package = LaunchConfiguration("runtime_config_package")
controllers_file = LaunchConfiguration("controllers_file")
start_joint_controller = LaunchConfiguration("start_joint_controller")
with_gripper_condition = LaunchConfiguration("with_gripper")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
initial_joint_controllers_file_path = PathJoinSubstitution(
[FindPackageShare(runtime_config_package), "config", controllers_file]
)
robot_description = {"robot_description": robot_description_content}
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, initial_joint_controllers_file_path],
output="both",
remappings=[
('motion_control_handle/target_frame', 'target_frame'),
('cartesian_compliance_controller/target_frame', 'target_frame'),
('cartesian_compliance_controller/target_wrench', 'target_wrench'),
('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench'),
]
)
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
)
# FIXME: Start controllers one controller by one launch or launch it all and switch by runtime?
initial_joint_controller_spawner_started = Node(
package="controller_manager",
executable="spawner",
arguments=[initial_joint_controller, "-c", "/controller_manager"],
condition=IfCondition(start_joint_controller),
)
initial_joint_controller_spawner_stopped = Node(
package="controller_manager",
executable="spawner",
arguments=[initial_joint_controller, "-c", "/controller_manager", "--inactive"],
condition=UnlessCondition(start_joint_controller),
)
gripper_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
"gripper_controller"],
output='screen',
condition=IfCondition(with_gripper_condition)
)
cartesian_motion_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["cartesian_motion_controller", "--inactive", "-c", "/controller_manager"],
)
motion_control_handle_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["motion_control_handle", "--inactive", "-c", "/controller_manager"],
)
cartesian_compliance_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["cartesian_compliance_controller", "--inactive", "-c", "/controller_manager"],
)
nodes_to_start = [
control_node,
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)