Fix simulation running #191
4 changed files with 50 additions and 52 deletions
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@ -15,7 +15,6 @@ import xacro
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import os
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from ament_index_python.packages import get_package_share_directory
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from rbs_arm import RbsBuilder
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def launch_setup(context, *args, **kwargs):
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# Initialize Arguments
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@ -53,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
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controllers_file = controllers_file.perform(context)
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# remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
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xacro_file = os.path.join(get_package_share_directory(description_package), "urdf", description_file)
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robot_description_doc = xacro.process_file(
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xacro_file,
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@ -72,15 +71,10 @@ def launch_setup(context, *args, **kwargs):
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}
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)
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# robot = RbsBuilder(6, "arm0", "world", "rbs_gripper")
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# robot.base()
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# robot.gripper()
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# robot.ros2_control()
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# robot.moveit()
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robot_description_content = robot_description_doc.toprettyxml(indent=" ")
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robot_description = {"robot_description": robot_description_content}
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robot_description_semantic_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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@ -94,7 +88,7 @@ def launch_setup(context, *args, **kwargs):
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"gripper_name:=", gripper_name, " ",
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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@ -145,7 +139,7 @@ def launch_setup(context, *args, **kwargs):
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'namespace': namespace,
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}.items(),
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condition=IfCondition(launch_controllers))
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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@ -183,7 +177,7 @@ def launch_setup(context, *args, **kwargs):
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'namespace': namespace
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}.items()
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)
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task_planner = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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@ -196,7 +190,7 @@ def launch_setup(context, *args, **kwargs):
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# TBD
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}.items(),
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condition=IfCondition(launch_task_planner))
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perception = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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@ -310,101 +304,101 @@ def generate_launch_description():
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("with_gripper",
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default_value="true",
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DeclareLaunchArgument("with_gripper",
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default_value="true",
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description="With gripper or not?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz",
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default_value="true",
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DeclareLaunchArgument("launch_rviz",
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default_value="true",
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description="Launch RViz?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo",
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default_value="true",
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DeclareLaunchArgument("sim_gazebo",
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default_value="true",
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description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("env_manager",
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default_value="true",
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DeclareLaunchArgument("env_manager",
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default_value="true",
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description="Launch env_manager?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_sim",
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default_value="true",
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DeclareLaunchArgument("launch_sim",
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default_value="true",
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description="Launch simulator (Gazebo)?\
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Most general arg")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_moveit",
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default_value="true",
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DeclareLaunchArgument("launch_moveit",
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default_value="true",
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description="Launch moveit?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_perception",
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default_value="false",
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DeclareLaunchArgument("launch_perception",
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default_value="false",
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description="Launch perception?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_task_planner",
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default_value="false",
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DeclareLaunchArgument("launch_task_planner",
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default_value="false",
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description="Launch task_planner?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("cartesian_controllers",
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default_value="false",
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DeclareLaunchArgument("cartesian_controllers",
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default_value="false",
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description="Load cartesian\
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controllers?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("hardware",
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DeclareLaunchArgument("hardware",
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choices=["gazebo", "mock"],
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default_value="gazebo",
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default_value="gazebo",
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description="Choose your harware_interface")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_controllers",
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default_value="true",
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DeclareLaunchArgument("launch_controllers",
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default_value="true",
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description="Launch controllers?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("gazebo_gui",
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default_value="false",
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DeclareLaunchArgument("gazebo_gui",
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default_value="false",
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description="Launch gazebo with gui?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("namespace",
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default_value="",
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DeclareLaunchArgument("namespace",
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default_value="",
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description="The ROS2 namespace of a robot")
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)
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declared_arguments.append(
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DeclareLaunchArgument("x",
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default_value="0.0",
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DeclareLaunchArgument("x",
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default_value="0.0",
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description="Position of robot in world by X")
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)
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declared_arguments.append(
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DeclareLaunchArgument("y",
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default_value="0.0",
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DeclareLaunchArgument("y",
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default_value="0.0",
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description="Position of robot in world by Y")
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)
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declared_arguments.append(
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DeclareLaunchArgument("z",
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default_value="0.0",
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DeclareLaunchArgument("z",
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default_value="0.0",
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description="Position of robot in world by Z")
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)
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declared_arguments.append(
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DeclareLaunchArgument("roll",
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default_value="0.0",
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DeclareLaunchArgument("roll",
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default_value="0.0",
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description="Position of robot in world by Z")
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)
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declared_arguments.append(
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DeclareLaunchArgument("pitch",
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default_value="0.0",
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DeclareLaunchArgument("pitch",
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default_value="0.0",
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description="Position of robot in world by Z")
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)
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declared_arguments.append(
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DeclareLaunchArgument("yaw",
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default_value="0.0",
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DeclareLaunchArgument("yaw",
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default_value="0.0",
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description="Position of robot in world by Z")
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)
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@ -53,7 +53,8 @@ def launch_setup(context, *args, **kwargs):
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launch_arguments={
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'sim_gazebo': sim_gazebo,
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'debugger': "false",
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'launch_env_manager': "false"
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'launch_env_manager': "false",
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'gazebo_world_filename': "asm2.sdf"
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}.items(),
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condition=IfCondition(launch_simulation)
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)
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@ -10,7 +10,6 @@
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rbs_utils</depend>
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<depend>rbs_skill_interfaces</depend>
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<depend>component_interfaces</depend>
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<depend>env_manager_interfaces</depend>
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<depend>behavior_tree</depend>
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<test_depend>ament_lint_auto</test_depend>
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@ -15,3 +15,7 @@ repositories:
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type: git
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url: https://github.com/osrf/dynamic_message_introspection.git
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version: main
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robot_builder:
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type: git
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url: https://github.com/solid-sinusoid/robot-builder.git
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version: main
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