29 lines
794 B
Python
29 lines
794 B
Python
import os
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from launch_ros.actions import Node
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from ur_moveit_config.launch_common import load_yaml
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from launch import LaunchDescription
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def generate_launch_description():
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declared_arguments = []
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points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")
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grasp_pose_loader = Node(
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package="rbs_skill_servers",
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executable="pick_place_pose_loader_service_server",
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output="screen",
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emulate_tty=True,
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parameters=[
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points_params
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]
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)
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pose_estimation = Node(
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package="rbs_perception",
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executable="pose_estimation_lifecycle.py",
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)
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nodes_to_start = [
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grasp_pose_loader,
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pose_estimation
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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