Bill Finger
860f7d6566
Migrate `env_manager`, `rbs_gym`, and `rbs_runtime` from ament_cmake to ament_python. Removed unnecessary files including .json and .yaml config files
278 lines
9.6 KiB
Python
278 lines
9.6 KiB
Python
import os
|
|
|
|
import xacro
|
|
from ament_index_python.packages import get_package_share_directory
|
|
from launch import LaunchDescription
|
|
from launch.actions import (
|
|
DeclareLaunchArgument,
|
|
IncludeLaunchDescription,
|
|
OpaqueFunction,
|
|
TimerAction,
|
|
)
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
|
|
|
|
def launch_setup(context, *args, **kwargs):
|
|
# Initialize Arguments
|
|
robot_type = LaunchConfiguration("robot_type")
|
|
# General arguments
|
|
with_gripper_condition = LaunchConfiguration("with_gripper")
|
|
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
|
|
description_package = LaunchConfiguration("description_package")
|
|
description_file = LaunchConfiguration("description_file")
|
|
robot_name = LaunchConfiguration("robot_name")
|
|
start_joint_controller = LaunchConfiguration("start_joint_controller")
|
|
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
|
|
launch_simulation = LaunchConfiguration("launch_sim")
|
|
launch_moveit = LaunchConfiguration("launch_moveit")
|
|
launch_task_planner = LaunchConfiguration("launch_task_planner")
|
|
launch_perception = LaunchConfiguration("launch_perception")
|
|
moveit_config_package = LaunchConfiguration("moveit_config_package")
|
|
moveit_config_file = LaunchConfiguration("moveit_config_file")
|
|
use_sim_time = LaunchConfiguration("use_sim_time")
|
|
sim_gazebo = LaunchConfiguration("sim_gazebo")
|
|
hardware = LaunchConfiguration("hardware")
|
|
env_manager = LaunchConfiguration("env_manager")
|
|
gazebo_gui = LaunchConfiguration("gazebo_gui")
|
|
gripper_name = LaunchConfiguration("gripper_name")
|
|
|
|
initial_joint_controllers_file_path = os.path.join(
|
|
get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
|
|
)
|
|
|
|
xacro_file = os.path.join(
|
|
get_package_share_directory(description_package.perform(context)),
|
|
"urdf",
|
|
description_file.perform(context),
|
|
)
|
|
|
|
robot_description_doc = xacro.process_file(
|
|
xacro_file,
|
|
mappings={
|
|
"gripper_name": gripper_name.perform(context),
|
|
"hardware": hardware.perform(context),
|
|
"simulation_controllers": initial_joint_controllers_file_path,
|
|
"namespace": "",
|
|
},
|
|
)
|
|
|
|
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
|
|
robot_description = {"robot_description": robot_description_content}
|
|
|
|
single_robot_setup = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource(
|
|
[
|
|
PathJoinSubstitution(
|
|
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
|
|
)
|
|
]
|
|
),
|
|
launch_arguments={
|
|
"env_manager": env_manager,
|
|
"with_gripper": with_gripper_condition,
|
|
"gripper_name": gripper_name,
|
|
"controllers_file": initial_joint_controllers_file_path,
|
|
"robot_type": robot_type,
|
|
# "controllers_file": controller_paramfile,
|
|
"cartesian_controllers": cartesian_controllers,
|
|
"description_package": description_package,
|
|
"description_file": description_file,
|
|
"robot_name": robot_type,
|
|
"start_joint_controller": start_joint_controller,
|
|
"initial_joint_controller": initial_joint_controller,
|
|
"launch_simulation": launch_simulation,
|
|
"launch_moveit": launch_moveit,
|
|
"launch_task_planner": launch_task_planner,
|
|
"launch_perception": launch_perception,
|
|
"moveit_config_package": moveit_config_package,
|
|
"moveit_config_file": moveit_config_file,
|
|
"use_sim_time": use_sim_time,
|
|
"sim_gazebo": sim_gazebo,
|
|
"hardware": hardware,
|
|
"launch_controllers": "true",
|
|
"gazebo_gui": gazebo_gui,
|
|
"robot_description": robot_description_content,
|
|
}.items(),
|
|
)
|
|
|
|
rbs_runtime = Node(
|
|
package="rbs_runtime",
|
|
executable="runtime",
|
|
parameters=[robot_description, {"use_sim_time": True}],
|
|
)
|
|
|
|
clock_bridge = Node(
|
|
package="ros_gz_bridge",
|
|
executable="parameter_bridge",
|
|
arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
|
|
output="screen",
|
|
)
|
|
|
|
delay_robot_control_stack = TimerAction(period=10.0, actions=[single_robot_setup])
|
|
|
|
nodes_to_start = [rbs_runtime, clock_bridge,
|
|
delay_robot_control_stack
|
|
]
|
|
return nodes_to_start
|
|
|
|
|
|
def generate_launch_description():
|
|
declared_arguments = []
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"robot_type",
|
|
description="Type of robot by name",
|
|
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
|
|
default_value="rbs_arm",
|
|
)
|
|
)
|
|
# General arguments
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"controllers_file",
|
|
default_value="rbs_arm0_controllers.yaml",
|
|
description="YAML file with the controllers configuration.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"description_package",
|
|
default_value="rbs_arm",
|
|
description="Description package with robot URDF/XACRO files. Usually the argument \
|
|
is not set, it enables use of a custom description.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"description_file",
|
|
default_value="rbs_arm_modular.xacro",
|
|
description="URDF/XACRO description file with the robot.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"robot_name",
|
|
default_value="arm0",
|
|
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"start_joint_controller",
|
|
default_value="false",
|
|
description="Enable headless mode for robot control",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"initial_joint_controller",
|
|
default_value="joint_trajectory_controller",
|
|
description="Robot controller to start.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"moveit_config_package",
|
|
default_value="rbs_arm",
|
|
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
|
|
is not set, it enables use of a custom moveit config.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"moveit_config_file",
|
|
default_value="rbs_arm.srdf.xacro",
|
|
description="MoveIt SRDF/XACRO description file with the robot.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"use_sim_time",
|
|
default_value="true",
|
|
description="Make MoveIt to use simulation time.\
|
|
This is needed for the trajectory planing in simulation.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"gripper_name",
|
|
default_value="rbs_gripper",
|
|
choices=["rbs_gripper", ""],
|
|
description="choose gripper by name (leave empty if hasn't)",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"with_gripper", default_value="true", description="With gripper or not?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"sim_gazebo", default_value="true", description="Gazebo Simulation"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"env_manager", default_value="true", description="Launch env_manager?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"launch_sim",
|
|
default_value="true",
|
|
description="Launch simulator (Gazebo)?\
|
|
Most general arg",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"launch_moveit", default_value="false", description="Launch moveit?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"launch_perception", default_value="false", description="Launch perception?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"launch_task_planner",
|
|
default_value="false",
|
|
description="Launch task_planner?",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"cartesian_controllers",
|
|
default_value="true",
|
|
description="Load cartesian\
|
|
controllers?",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"hardware",
|
|
choices=["gazebo", "mock"],
|
|
default_value="gazebo",
|
|
description="Choose your harware_interface",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"launch_controllers",
|
|
default_value="true",
|
|
description="Launch controllers?",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
|
|
)
|
|
)
|
|
|
|
return LaunchDescription(
|
|
declared_arguments + [OpaqueFunction(function=launch_setup)]
|
|
)
|