Bill Finger
ef4b015491
- **Added support for assembly configuration in `rbs_bringup` and `rbs_robot` launches**: - Introduced new launch arguments: `use_rbs_utils` and `assembly_config_name`. - Integrated `rbs_utils`'s `utils.launch.py` for handling assembly configurations. - **Simplified `skills.launch.py`**: - Removed redundant `assembly_config` node setup. - **Enhanced `rbs_utils`**: - Added installation of `launch` files in `CMakeLists.txt`. - Created a new `utils.launch.py` for dynamically loading assembly configurations. - Refactored `assembly_config_service.py` to utilize `get_asm_config` for streamlined configuration file resolution. - Improved `rbs_bringup` setup to include additional parameters and nodes for assembly configuration. These changes centralize assembly configuration handling and enhance modularity across launch setups.
55 lines
1.7 KiB
Python
55 lines
1.7 KiB
Python
from launch import LaunchDescription
|
|
from launch.actions import (
|
|
IncludeLaunchDescription,
|
|
OpaqueFunction,
|
|
)
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import (
|
|
PathJoinSubstitution,
|
|
)
|
|
from launch_ros.substitutions import FindPackageShare
|
|
|
|
|
|
def launch_setup(context, *args, **kwargs):
|
|
main_script = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource(
|
|
[
|
|
PathJoinSubstitution(
|
|
[FindPackageShare("rbs_runtime"), "launch", "runtime.launch.py"]
|
|
)
|
|
]
|
|
),
|
|
launch_arguments={
|
|
"with_gripper": "true",
|
|
"robot_type": "rbs_arm",
|
|
"description_package": "rbs_arm",
|
|
"description_file": "rbs_arm_modular.xacro",
|
|
"robot_name": "rbs_arm",
|
|
"use_moveit": "false",
|
|
"moveit_config_package": "rbs_arm",
|
|
"moveit_config_file": "rbs_arm.srdf.xacro",
|
|
"use_sim_time": "true",
|
|
"use_controllers": "true",
|
|
"scene_config_file": "",
|
|
"base_link_name": "base_link",
|
|
"ee_link_name": "gripper_grasp_point",
|
|
"control_space": "task",
|
|
"control_strategy": "position",
|
|
"interactive": "false",
|
|
"use_rbs_utils": "true",
|
|
"assembly_config_name": "board_pick_and_place"
|
|
}.items(),
|
|
)
|
|
|
|
nodes_to_start = [
|
|
main_script,
|
|
]
|
|
return nodes_to_start
|
|
|
|
|
|
def generate_launch_description():
|
|
declared_arguments = []
|
|
|
|
return LaunchDescription(
|
|
declared_arguments + [OpaqueFunction(function=launch_setup)]
|
|
)
|