290 lines
9.9 KiB
Python
290 lines
9.9 KiB
Python
import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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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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OpaqueFunction,
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TimerAction,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import 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 robot_builder.parser.urdf import URDF_parser
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from robot_builder.external.ros2_control import ControllerManager
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import yaml
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def launch_setup(context, *args, **kwargs):
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# Initialize Arguments
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robot_type = LaunchConfiguration("robot_type")
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# General arguments
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with_gripper_condition = LaunchConfiguration("with_gripper")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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robot_name = LaunchConfiguration("robot_name")
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use_moveit = LaunchConfiguration("use_moveit")
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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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hardware = LaunchConfiguration("hardware")
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gripper_name = LaunchConfiguration("gripper_name")
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scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
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ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
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base_link_name = LaunchConfiguration("base_link_name").perform(context)
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control_space = LaunchConfiguration("control_space").perform(context)
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control_strategy = LaunchConfiguration("control_strategy").perform(context)
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if not scene_config_file == "":
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config_file = {"config_file": scene_config_file}
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else:
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config_file = {}
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description_package_abs_path = get_package_share_directory(
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description_package.perform(context)
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)
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simulation_controllers = os.path.join(
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description_package_abs_path, "config", "controllers.yaml"
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)
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xacro_file = os.path.join(
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description_package_abs_path,
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"urdf",
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description_file.perform(context),
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)
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xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
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# TODO: hide this to another place
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# Load xacro_args
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def param_constructor(loader, node, local_vars):
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value = loader.construct_scalar(node)
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return LaunchConfiguration(value).perform(
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local_vars.get("context", "Launch context if not defined")
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)
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def variable_constructor(loader, node, local_vars):
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value = loader.construct_scalar(node)
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return local_vars.get(value, f"Variable '{value}' not found")
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def load_xacro_args(yaml_file, local_vars):
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# Get valut from ros2 argument
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yaml.add_constructor(
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"!param", lambda loader, node: param_constructor(loader, node, local_vars)
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)
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# Get value from local variable in this code
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# The local variable should be initialized before the loader was called
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yaml.add_constructor(
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"!variable",
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lambda loader, node: variable_constructor(loader, node, local_vars),
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)
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with open(yaml_file, "r") as file:
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return yaml.load(file, Loader=yaml.FullLoader)
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mappings_data = load_xacro_args(xacro_config_file, locals())
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robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
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robot_description_content = robot_description_doc.toprettyxml(indent=" ")
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robot_description = {"robot_description": robot_description_content}
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# Parse robot and configure controller's file for ControllerManager
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robot = URDF_parser.load_string(
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robot_description_content, ee_link_name="gripper_grasp_point"
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)
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ControllerManager.save_to_yaml(
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robot, description_package_abs_path, "controllers.yaml"
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)
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rbs_robot_setup = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
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)
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]
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),
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launch_arguments={
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"with_gripper": with_gripper_condition,
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"gripper_name": gripper_name,
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"controllers_file": simulation_controllers,
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"robot_type": robot_type,
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"description_package": description_package,
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"description_file": description_file,
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"robot_name": robot_type,
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"use_moveit": use_moveit,
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"moveit_config_package": moveit_config_package,
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"moveit_config_file": moveit_config_file,
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"use_sim_time": use_sim_time,
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"hardware": hardware,
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"use_controllers": "true",
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"robot_description": robot_description_content,
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"base_link_name": base_link_name,
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"ee_link_name": ee_link_name,
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"control_space": control_space,
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"control_strategy": control_strategy,
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}.items(),
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)
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rbs_runtime = Node(
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package="rbs_runtime",
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executable="runtime",
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parameters=[robot_description, config_file, {"use_sim_time": True}],
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)
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clock_bridge = Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
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output="screen",
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)
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delay_robot_control_stack = TimerAction(period=10.0, actions=[rbs_robot_setup])
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nodes_to_start = [rbs_runtime, clock_bridge, delay_robot_control_stack]
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return nodes_to_start
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_type",
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description="Type of robot by name",
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choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="rbs_arm",
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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="rbs_arm",
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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="rbs_arm_modular.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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"robot_name",
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default_value="arm0",
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description="Name for robot, used to apply namespace for specific robot in multirobot 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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"moveit_config_package",
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default_value="rbs_arm",
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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="rbs_arm.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.\
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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(
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"gripper_name",
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default_value="rbs_gripper",
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choices=["rbs_gripper", ""],
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description="choose gripper by name (leave empty if hasn't)",
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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", default_value="true", 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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"use_moveit", default_value="false", description="Launch moveit?"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"launch_perception", default_value="false", description="Launch perception?"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"hardware",
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choices=["gazebo", "mock"],
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default_value="gazebo",
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description="Choose your harware_interface",
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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_controllers",
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default_value="true",
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description="Launch controllers?",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"scene_config_file",
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default_value="",
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description="Path to a scene configuration file",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"ee_link_name",
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default_value="",
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description="End effector name of robot arm",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"base_link_name",
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default_value="",
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description="Base link name if robot arm",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"control_space",
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default_value="task",
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choices=["task", "joint"],
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description="Specify the control space for the robot (e.g., task space).",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"control_strategy",
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default_value="position",
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choices=["position", "velocity", "effort"],
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description="Specify the control strategy (e.g., position control).",
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)
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)
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return LaunchDescription(
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declared_arguments + [OpaqueFunction(function=launch_setup)]
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)
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