480 lines
16 KiB
Python
480 lines
16 KiB
Python
import os
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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ExecuteProcess
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)
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from ament_index_python.packages import get_package_share_directory
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from launch.conditions import IfCondition, UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ur_moveit_config.launch_common import load_yaml
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def generate_launch_description():
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declared_arguments = []
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# UR specific arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"rbs_robot_type",
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description="Type of robot by name",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="ur5e",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"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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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"runtime_config_package",
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default_value="ur_moveit_config",
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description='Package with the controller\'s configuration in "config" folder. \
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Usually the argument is not set, it enables use of a custom setup.',
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_with_gripper_file",
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default_value="ur_plus_gripper_controllers.yaml",
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description="YAML file with the UR + gripper_controller configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ur_description",
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description="Description package with robot URDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="ur.urdf.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value='""',
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description="Prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="true",
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description="Enable headless mode for robot control",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="joint_trajectory_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_gripper_controller",
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default_value="gripper_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_package",
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default_value="ur_moveit_config",
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description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom moveit config.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_file",
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default_value="ur.srdf.xacro",
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description="MoveIt SRDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
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)
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# Initialize Arguments
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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with_gripper_condition = LaunchConfiguration("with_gripper")
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controllers_file = LaunchConfiguration("controllers_with_gripper_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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prefix = LaunchConfiguration("prefix")
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start_joint_controller = LaunchConfiguration("start_joint_controller")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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initial_gripper_controller = LaunchConfiguration("initial_gripper_controller")
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launch_rviz = LaunchConfiguration("launch_rviz")
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moveit_config_package = LaunchConfiguration("moveit_config_package")
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moveit_config_file = LaunchConfiguration("moveit_config_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare(runtime_config_package), "config", controllers_file]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
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)
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
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)
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robot_description_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(description_package), "urdf", description_file]
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),
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" ",
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"safety_limits:=",
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safety_limits,
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" ",
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"safety_pos_margin:=",
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safety_pos_margin,
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" ",
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"safety_k_position:=",
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safety_k_position,
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" ",
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"name:=",
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"ur",
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" ",
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"ur_type:=",
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rbs_robot_type,
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" ",
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"prefix:=",
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prefix,
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" ",
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"sim_ignition:=true",
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" ",
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"simulation_controllers:=",
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initial_joint_controllers_file_path,
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" ",
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"with_gripper:=",
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with_gripper_condition
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[{"use_sim_time": True}, robot_description],
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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# There may be other controllers of the joints, but this is the initially-started one
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initial_joint_controller_spawner_started = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "--controller-manager", "/controller_manager"],
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condition=IfCondition(start_joint_controller),
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)
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initial_joint_controller_spawner_stopped = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "--controller-manager", "/controller_manager", "--stopped"],
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condition=UnlessCondition(start_joint_controller),
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)
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gripper_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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"gripper_controller"],
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output='screen',
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condition=IfCondition(with_gripper_condition)
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)
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# Gazebo nodes
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_ign_gazebo'),
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'launch', 'ign_gazebo.launch.py')]),
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launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])])
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# Spawn robot
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gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
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arguments=[
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'-name', rbs_robot_type,
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'-x', '0.0',
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'-z', '0.0',
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'-y', '0.0',
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'-topic', '/robot_description'],
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output='screen')
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# MoveIt Configuration
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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(moveit_config_package), "srdf", moveit_config_file]
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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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prefix,
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" ",
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"with_gripper:=",
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with_gripper_condition
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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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)
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# Planning Configuration
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ompl_planning_pipeline_config = {
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"move_group": {
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"planning_plugin": "ompl_interface/OMPLPlanner",
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"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
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"start_state_max_bounds_error": 0.1,
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}
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}
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ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml")
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ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
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controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
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moveit_controllers = {
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"moveit_simple_controller_manager": controllers_yaml,
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"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
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}
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trajectory_execution = {
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"moveit_manage_controllers": True,
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"trajectory_execution.allowed_execution_duration_scaling": 100.0,
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"trajectory_execution.allowed_goal_duration_margin": 0.5,
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"trajectory_execution.allowed_start_tolerance": 0.01,
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}
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planning_scene_monitor_parameters = {
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"publish_planning_scene": True,
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"publish_geometry_updates": True,
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"publish_state_updates": True,
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"publish_transforms_updates": True,
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}
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move_group_node = Node(
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package="moveit_ros_move_group",
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executable="move_group",
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output="screen",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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{"use_sim_time": use_sim_time},
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],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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],
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condition=IfCondition(launch_rviz),
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)
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# TODO: Launch skill servers in other launch file
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move_topose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_topose_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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gripper_control_node = Node(
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package="rbs_skill_servers",
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executable="gripper_control_action_server",
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parameters= [
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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#move_topose_action_server = Node(
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# package="rbs_skill_servers",
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# executable="move_topose_action_server",
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# parameters=[
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# robot_description,
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# robot_description_semantic,
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# robot_description_kinematics,
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# {"use_sim_time": use_sim_time},
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# ]
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#)
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move_cartesian_path_action_server = Node(
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package="rbs_skill_servers",
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executable="move_cartesian_path_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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move_joint_state_action_server = Node(
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package="rbs_skill_servers",
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executable="move_to_joint_states_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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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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assemble_state = Node(
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package="rbs_skill_servers",
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executable="assemble_state_service_server",
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output="screen",
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parameters=[
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{'assemble_prefix': 'ASSEMBLE_'},
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{'assemble_dir': '/home/splinter1984/tmp_ws/src/robossembler-ros2/rbs_task_planner/example/sdf_models/'}
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]
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)
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moveit_planning_scene_init = Node(
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package="rbs_skill_servers",
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executable="moveit_update_planning_scene_service_server",
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output="screen",
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parameters=[
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{'init_scene': world_config_file},
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{'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
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]
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)
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# add_planning_scene_object = Node(
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# package="rbs_skill_servers",
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# executable="add_planning_scene_object_service",
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# output="screen",
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# parameters=[
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# robot_description,
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# robot_description_semantic,
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# robot_description_kinematics,
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# {"use_sim_time": use_sim_time},
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# ]
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# )
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nodes_to_start = [
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robot_state_publisher_node,
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joint_state_broadcaster_spawner,
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rviz_node,
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initial_joint_controller_spawner_stopped,
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initial_joint_controller_spawner_started,
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gazebo,
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gazebo_spawn_robot,
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move_group_node,
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gripper_controller,
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gripper_control_node,
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move_topose_action_server,
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move_cartesian_path_action_server,
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move_joint_state_action_server,
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grasp_pose_loader,
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assemble_state,
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moveit_planning_scene_init,
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#add_planning_scene_object
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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