83 lines
No EOL
2.6 KiB
Python
83 lines
No EOL
2.6 KiB
Python
from launch.launch_description import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import UnlessCondition
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from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Launch arguments
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launch_args = []
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launch_args.append(
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DeclareLaunchArgument(
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name="robot_description",
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description="Robot description XML file."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="sim",
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default_value="true",
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description="Launch robot in simulation or on real setup."
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)
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)
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# Configure robot_description
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robot_description = {"robot_description": LaunchConfiguration("robot_description")}
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# Load controllers from YAML configuration file
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controller_configurations = PathJoinSubstitution([
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FindPackageShare("rasmt_support"),
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"config",
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"rasmt_ros2_controllers.yaml"
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])
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# Prepare controller manager and other required nodes
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controller_manager = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, controller_configurations],
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output="screen",
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condition=UnlessCondition(LaunchConfiguration("sim"))
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)
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robot_state_publisher = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="screen",
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parameters=[robot_description]
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)
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joint_state_broadcaster = Node(
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package="controller_manager",
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executable="spawner.py",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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controller_arm = Node(
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package="controller_manager",
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executable="spawner.py",
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arguments=["rasmt_arm_controller", "--controller-manager", "/controller_manager"],
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)
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controller_hand = Node(
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package="controller_manager",
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executable="spawner.py",
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arguments=["rasmt_hand_controller", "--controller-manager", "/controller_manager"],
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)
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action_server_controller_hand_node = Node(
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package="robossembler_servers",
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executable="gripper_cmd_node"
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)
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return LaunchDescription(
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launch_args + [
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controller_manager,
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robot_state_publisher,
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joint_state_broadcaster,
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controller_arm,
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controller_hand,
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action_server_controller_hand_node
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]) |