Bill Finger
e4e3e4e3af
feat(robot): add support for handling scalar joint positions - Updated `RobotData` and `RbsArm` to allow joint positions to be passed as either a list or a scalar value. - Refactored logic to dynamically handle scalar values and repeat them across all joints. - Added new `initial_arm_joint_positions` and `initial_gripper_joint_positions` properties in `RbsArm`. - Improved joint position initialization in the `Scene` class to retrieve robot description asynchronously if not provided. - Enhanced the launch script to configure environment variables based on available CPU cores. - Minor code cleanups and bug fixes, including terrain naming and corrected joint defaultsd. git commit --amend
301 lines
10 KiB
Python
301 lines
10 KiB
Python
import os
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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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)
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from launch.conditions import IfCondition
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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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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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controllers_file = LaunchConfiguration("controllers_file")
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cartesian_controllers = LaunchConfiguration("cartesian_controllers")
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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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start_joint_controller = LaunchConfiguration("start_joint_controller")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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launch_simulation = LaunchConfiguration("launch_sim")
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launch_moveit = LaunchConfiguration("launch_moveit")
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launch_task_planner = LaunchConfiguration("launch_task_planner")
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launch_perception = LaunchConfiguration("launch_perception")
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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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sim_gazebo = LaunchConfiguration("sim_gazebo")
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hardware = LaunchConfiguration("hardware")
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env_manager = LaunchConfiguration("env_manager")
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launch_controllers = LaunchConfiguration("launch_controllers")
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gazebo_gui = LaunchConfiguration("gazebo_gui")
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gripper_name = LaunchConfiguration("gripper_name")
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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launch_simulation = LaunchConfiguration("launch_sim")
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simulation = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare("rbs_simulation"),
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"launch",
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"simulation_gazebo.launch.py",
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]
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)
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]
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),
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launch_arguments={
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"sim_gazebo": sim_gazebo,
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"debugger": "false",
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"launch_env_manager": env_manager,
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"gazebo_world_filename": "asm2.sdf",
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}.items(),
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condition=IfCondition(launch_simulation),
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)
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# FIXME: namespaces
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# configured_params = RewrittenYaml(
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# source_file=os.path.join(
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# get_package_share_directory(
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# description_package.perform(context)),
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# "config",
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# controllers_file.perform(context)),
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# root_key=robot_name.perform(context),
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# param_rewrites={},
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# convert_types=True,
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# )
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initial_joint_controllers_file_path = os.path.join(
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get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
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)
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# controller_paramfile = configured_params.perform(context)
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# controller_paramfile = PathJoinSubstitution([
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# FindPackageShare(robot_type), "config", "rbs_arm0_controllers.yaml"
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# ])
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# namespace = "/" + robot_name.perform(context)
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namespace = ""
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gz_spawner = Node(
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package="ros_gz_sim",
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executable="create",
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# prefix=['gdbserver localhost:1234'],
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arguments=[
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"-name",
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robot_name.perform(context),
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"-topic",
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namespace + "/robot_description",
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],
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output="screen",
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condition=IfCondition(sim_gazebo),
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)
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single_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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"env_manager": env_manager,
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"with_gripper": with_gripper_condition,
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"gripper_name": gripper_name,
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"controllers_file": initial_joint_controllers_file_path,
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"robot_type": robot_type,
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# "controllers_file": controller_paramfile,
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"cartesian_controllers": cartesian_controllers,
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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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"start_joint_controller": start_joint_controller,
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"initial_joint_controller": initial_joint_controller,
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"launch_simulation": launch_simulation,
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"launch_moveit": launch_moveit,
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"launch_task_planner": launch_task_planner,
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"launch_perception": launch_perception,
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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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"sim_gazebo": sim_gazebo,
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"hardware": hardware,
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"launch_controllers": "true",
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"gazebo_gui": gazebo_gui,
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# "x": "0.5",
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# "y": "0.5",
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# "z": "0.5"
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}.items(),
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)
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nodes_to_start = [simulation, gz_spawner, single_robot_setup]
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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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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="rbs_arm0_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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"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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"start_joint_controller",
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default_value="false",
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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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"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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"sim_gazebo", default_value="true", description="Gazebo 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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"env_manager", default_value="true", description="Launch env_manager?"
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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_sim",
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default_value="true",
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description="Launch simulator (Gazebo)?\
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Most general arg",
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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_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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"launch_task_planner",
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default_value="false",
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description="Launch task_planner?",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"cartesian_controllers",
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default_value="true",
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description="Load cartesian\
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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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"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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"launch_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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"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
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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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