66 lines
2.1 KiB
Python
66 lines
2.1 KiB
Python
from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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import os
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import yaml
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import math
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from rbs_launch_utils.launch_common import load_yaml
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def generate_launch_description():
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# bt_config = os.path.join(
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# get_package_share_directory('rbs_bt_executor'),
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# 'config',
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# 'params.yaml'
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# )
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# points = load_yaml(
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# package_name="rbs_bt_executor",
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# file_path="config/points.yaml"
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# )
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gripperPoints = load_yaml(
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package_name="rbs_bt_executor",
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file_path="config/gripperPositions.yaml")
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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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" ",
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PathJoinSubstitution(
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[FindPackageShare("ur_moveit_config"), "srdf", "ur.srdf.xacro"]
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),
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" ",
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"name:=",
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"ur",
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" ",
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"prefix:=",
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"",
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" ",
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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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return LaunchDescription([
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Node(
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package='behavior_tree',
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executable='bt_engine',
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#prefix=['xterm -e gdb -ex run --args'],
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parameters=[
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{'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_executor'), 'bt_trees/test_gripper.xml')},
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{'plugins':["rbs_skill_move_topose_bt_action_client",
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"rbs_skill_get_pick_place_pose_service_client",
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"rbs_skill_gripper_move_bt_action_client",
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"rbs_skill_move_joint_state",
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"rbs_add_planning_scene_object",
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"rbs_pose_estimation"
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]},
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# gripperPoints,
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robot_description_semantic
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]
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)
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])
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