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Fix simulation running #191

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solid-sinusoid merged 5 commits from fix-simulation-running into main 2024-05-27 14:36:08 +03:00
Conversation 1 Commits 5 Files changed 4 +50 -52
4 changed files with 50 additions and 52 deletions
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6
rbs_bringup/launch/rbs_robot.launch.py
View file

@ -15,7 +15,6 @@ import xacro
import os import os
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
from rbs_arm import RbsBuilder
def launch_setup(context, *args, **kwargs): def launch_setup(context, *args, **kwargs):
# Initialize Arguments # Initialize Arguments
@ -72,11 +71,6 @@ def launch_setup(context, *args, **kwargs):
} }
) )
# robot = RbsBuilder(6, "arm0", "world", "rbs_gripper")
# robot.base()
# robot.gripper()
# robot.ros2_control()
# robot.moveit()
robot_description_content = robot_description_doc.toprettyxml(indent=" ") robot_description_content = robot_description_doc.toprettyxml(indent=" ")
robot_description = {"robot_description": robot_description_content} robot_description = {"robot_description": robot_description_content}

3
rbs_bringup/launch/single_robot.launch.py
View file

@ -53,7 +53,8 @@ def launch_setup(context, *args, **kwargs):
launch_arguments={ launch_arguments={
'sim_gazebo': sim_gazebo, 'sim_gazebo': sim_gazebo,
'debugger': "false", 'debugger': "false",
'launch_env_manager': "false" 'launch_env_manager': "false",
'gazebo_world_filename': "asm2.sdf"
}.items(), }.items(),
condition=IfCondition(launch_simulation) condition=IfCondition(launch_simulation)
) )

1
rbs_bt_executor/package.xml
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@ -10,7 +10,6 @@
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<depend>rbs_utils</depend> <depend>rbs_utils</depend>
<depend>rbs_skill_interfaces</depend> <depend>rbs_skill_interfaces</depend>
<depend>component_interfaces</depend>
<depend>env_manager_interfaces</depend> <depend>env_manager_interfaces</depend>
<depend>behavior_tree</depend> <depend>behavior_tree</depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>

4
repos/sim.rbs.repos
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@ -15,3 +15,7 @@ repositories:
type: git type: git
url: https://github.com/osrf/dynamic_message_introspection.git url: https://github.com/osrf/dynamic_message_introspection.git
version: main version: main
robot_builder:
type: git
url: https://github.com/solid-sinusoid/robot-builder.git
version: main