369 lines
13 KiB
Python
369 lines
13 KiB
Python
import os
|
|
from launch import LaunchDescription
|
|
from launch.actions import (
|
|
DeclareLaunchArgument,
|
|
IncludeLaunchDescription,
|
|
)
|
|
from launch.conditions import IfCondition
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
# from rbs_launch_utils.launch_common import load_yaml_abs
|
|
|
|
def generate_launch_description():
|
|
declared_arguments = []
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"rbs_robot_type",
|
|
description="Type of robot by name",
|
|
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
|
|
default_value="ur5e",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"safety_limits",
|
|
default_value="true",
|
|
description="Enables the safety limits controller if true.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"safety_pos_margin",
|
|
default_value="0.15",
|
|
description="The margin to lower and upper limits in the safety controller.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"safety_k_position",
|
|
default_value="20",
|
|
description="k-position factor in the safety controller.",
|
|
)
|
|
)
|
|
# General arguments
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"controllers_file",
|
|
default_value="ur_plus_gripper_controllers.yaml",
|
|
description="YAML file with the controllers configuration.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"controllers_with_gripper_file",
|
|
default_value="ur_plus_gripper_controllers.yaml",
|
|
description="YAML file with the UR + gripper_controller configuration.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"description_package",
|
|
default_value="ur_description",
|
|
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="ur.urdf.xacro",
|
|
description="URDF/XACRO description file with the robot.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"prefix",
|
|
default_value='""',
|
|
description="Prefix of the joint names, useful for \
|
|
multi-robot setup. If changed than also joint names in the controllers' configuration \
|
|
have to be updated.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"start_joint_controller",
|
|
default_value="true",
|
|
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(
|
|
"initial_gripper_controller",
|
|
default_value="gripper_controller",
|
|
description="Robot controller to start.",
|
|
)
|
|
)
|
|
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"moveit_config_package",
|
|
default_value="ur_moveit_config",
|
|
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="ur.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("with_gripper", default_value="true", description="With gripper or not?")
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument("sim_gazebo", default_value="true", description="Gazebo Simulation")
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument("sim_mujoco", default_value="false", description="Mujoco Simulation")
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
|
|
)
|
|
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="true", 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="false", description="Load cartesian controllers?")
|
|
)
|
|
|
|
# Initialize Arguments
|
|
rbs_robot_type = LaunchConfiguration("rbs_robot_type")
|
|
safety_limits = LaunchConfiguration("safety_limits")
|
|
safety_pos_margin = LaunchConfiguration("safety_pos_margin")
|
|
safety_k_position = LaunchConfiguration("safety_k_position")
|
|
# General arguments
|
|
with_gripper_condition = LaunchConfiguration("with_gripper")
|
|
controllers_file = LaunchConfiguration("controllers_file")
|
|
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
|
|
description_package = LaunchConfiguration("description_package")
|
|
description_file = LaunchConfiguration("description_file")
|
|
prefix = LaunchConfiguration("prefix")
|
|
start_joint_controller = LaunchConfiguration("start_joint_controller")
|
|
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
|
|
launch_rviz = LaunchConfiguration("launch_rviz")
|
|
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")
|
|
sim_mujoco = LaunchConfiguration("sim_mujoco")
|
|
sim_fake = LaunchConfiguration("sim_fake")
|
|
env_manager = LaunchConfiguration("env_manager")
|
|
|
|
|
|
initial_joint_controllers_file_path = PathJoinSubstitution(
|
|
[FindPackageShare(description_package), "config", controllers_file]
|
|
)
|
|
|
|
rviz_config_file = PathJoinSubstitution(
|
|
[FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
|
|
)
|
|
|
|
|
|
robot_description_content = Command(
|
|
[
|
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
" ",
|
|
PathJoinSubstitution(
|
|
[FindPackageShare(description_package), "urdf", description_file]
|
|
),
|
|
" ",
|
|
"safety_limits:=", safety_limits, " ",
|
|
"safety_pos_margin:=", safety_pos_margin, " ",
|
|
"safety_k_position:=", safety_k_position, " ",
|
|
"name:=", "ur", " ",
|
|
"ur_type:=", rbs_robot_type, " ",
|
|
"prefix:=", prefix, " ",
|
|
"sim_mujoco:=", sim_mujoco, " ",
|
|
"sim_gazebo:=", sim_gazebo, " ",
|
|
"sim_fake:=", sim_fake, " ",
|
|
"simulation_controllers:=", initial_joint_controllers_file_path, " ",
|
|
"with_gripper:=", with_gripper_condition, " ",
|
|
]
|
|
)
|
|
robot_description = {"robot_description": robot_description_content}
|
|
|
|
# MoveIt Configuration
|
|
robot_description_semantic_content = Command(
|
|
[
|
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
" ",
|
|
PathJoinSubstitution(
|
|
[FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
|
|
), " ",
|
|
"name:=", "ur", " ",
|
|
"prefix:=", prefix, " ",
|
|
"with_gripper:=", with_gripper_condition
|
|
]
|
|
)
|
|
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
|
|
robot_description_kinematics = PathJoinSubstitution(
|
|
[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
|
|
)
|
|
robot_state_publisher = Node(
|
|
package="robot_state_publisher",
|
|
executable="robot_state_publisher",
|
|
output="both",
|
|
parameters=[{"use_sim_time": True}, robot_description],
|
|
)
|
|
|
|
rviz = Node(
|
|
package="rviz2",
|
|
executable="rviz2",
|
|
name="rviz2",
|
|
output="log",
|
|
arguments=["-d", rviz_config_file],
|
|
parameters=[
|
|
robot_description,
|
|
robot_description_semantic,
|
|
robot_description_kinematics
|
|
],
|
|
condition=IfCondition(launch_rviz))
|
|
|
|
control = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([
|
|
PathJoinSubstitution([
|
|
FindPackageShare('ur_description'),
|
|
'launch',
|
|
'control.launch.py'
|
|
])
|
|
]),
|
|
launch_arguments={
|
|
'with_gripper': with_gripper_condition,
|
|
'robot_description': robot_description_content,
|
|
'start_joint_controller': start_joint_controller,
|
|
'initial_joint_controller': initial_joint_controller,
|
|
'controllers_file': controllers_file,
|
|
"cartesian_controllers": cartesian_controllers
|
|
}.items())
|
|
|
|
simulation = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([
|
|
PathJoinSubstitution([
|
|
FindPackageShare('rbs_simulation'),
|
|
'launch',
|
|
'simulation.launch.py'
|
|
])
|
|
]),
|
|
launch_arguments={
|
|
'sim_gazebo': sim_gazebo,
|
|
'rbs_robot_type': rbs_robot_type,
|
|
'env_manager': env_manager
|
|
}.items(),
|
|
condition=IfCondition(launch_simulation))
|
|
|
|
moveit = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([
|
|
PathJoinSubstitution([
|
|
FindPackageShare('ur_moveit_config'),
|
|
'launch',
|
|
'moveit.launch.py'
|
|
])
|
|
]),
|
|
launch_arguments={
|
|
'robot_description': robot_description_content,
|
|
'moveit_config_package': moveit_config_package,
|
|
'moveit_config_file': moveit_config_file,
|
|
'use_sim_time': use_sim_time,
|
|
'prefix': prefix,
|
|
'with_gripper': with_gripper_condition,
|
|
'robot_description_semantic': robot_description_semantic_content
|
|
}.items(),
|
|
condition=IfCondition(launch_moveit))
|
|
|
|
skills = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([
|
|
PathJoinSubstitution([
|
|
FindPackageShare('rbs_skill_servers'),
|
|
'launch',
|
|
'skills.launch.py'
|
|
])
|
|
]),
|
|
launch_arguments={
|
|
'robot_description': robot_description_content,
|
|
'robot_description_semantic': robot_description_semantic_content,
|
|
'robot_description_kinematics': robot_description_kinematics,
|
|
'use_sim_time': use_sim_time,
|
|
'with_gripper_condition': with_gripper_condition,
|
|
'points_params_filepath': "gripperPositions.yaml"
|
|
}.items()
|
|
)
|
|
|
|
task_planner = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([
|
|
PathJoinSubstitution([
|
|
FindPackageShare('rbs_task_planner'),
|
|
'launch',
|
|
'task_planner.launch.py'
|
|
])
|
|
]),
|
|
launch_arguments={
|
|
# TBD
|
|
}.items(),
|
|
condition=IfCondition(launch_task_planner))
|
|
|
|
perception = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([
|
|
PathJoinSubstitution([
|
|
FindPackageShare('rbs_perception'),
|
|
'launch',
|
|
'perception.launch.py'
|
|
])
|
|
]),
|
|
launch_arguments={
|
|
# TBD
|
|
}.items(),
|
|
condition=IfCondition(launch_perception))
|
|
|
|
nodes_to_start = [
|
|
robot_state_publisher,
|
|
rviz,
|
|
control,
|
|
simulation,
|
|
moveit,
|
|
skills,
|
|
task_planner,
|
|
perception
|
|
]
|
|
return LaunchDescription(declared_arguments + nodes_to_start)
|
|
|
|
|
|
|
|
|