511 lines
16 KiB
Python
511 lines
16 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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)
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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 (
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Command,
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FindExecutable,
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LaunchConfiguration,
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PathJoinSubstitution,
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)
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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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launch_rviz = LaunchConfiguration("launch_rviz")
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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_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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hardware = LaunchConfiguration("hardware")
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launch_controllers = LaunchConfiguration("launch_controllers")
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gripper_name = LaunchConfiguration("gripper_name")
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x_pos = LaunchConfiguration("x")
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y_pos = LaunchConfiguration("y")
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z_pos = LaunchConfiguration("z")
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roll = LaunchConfiguration("roll")
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pitch = LaunchConfiguration("pitch")
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yaw = LaunchConfiguration("yaw")
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namespace = LaunchConfiguration("namespace")
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multi_robot = LaunchConfiguration("multi_robot")
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robot_name = robot_name.perform(context)
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namespace = namespace.perform(context)
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robot_type = robot_type.perform(context)
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description_package = description_package.perform(context)
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description_file = description_file.perform(context)
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controllers_file = controllers_file.perform(context)
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multi_robot = multi_robot.perform(context)
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robot_description = LaunchConfiguration("robot_description")
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remappings = []
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if multi_robot == "true":
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remappings.append([("/tf", "tf"), ("/tf_static", "tf_static")])
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controllers_file = os.path.join(
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get_package_share_directory(description_package), "config", controllers_file
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)
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if robot_description.perform(context):
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xacro_file = os.path.join(
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get_package_share_directory(description_package), "urdf", description_file
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)
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robot_description_doc = xacro.process_file(
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xacro_file,
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mappings={
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"gripper_name": gripper_name.perform(context),
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"hardware": hardware.perform(context),
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"simulation_controllers": controllers_file,
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"namespace": namespace,
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"x": x_pos.perform(context),
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"y": y_pos.perform(context),
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"z": z_pos.perform(context),
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"roll": roll.perform(context),
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"pitch": pitch.perform(context),
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"yaw": yaw.perform(context),
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},
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)
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robot_description_content = robot_description_doc.toprettyxml(indent=" ")
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else:
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robot_description_content = robot_description.perform(context)
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robot_description = {"robot_description": robot_description_content}
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robot_description_semantic_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare(moveit_config_package),
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"config/moveit",
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"rbs_arm.srdf.xacro",
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]
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),
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" ",
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"name:=",
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robot_type,
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" ",
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"with_gripper:=",
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with_gripper_condition,
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" ",
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"gripper_name:=",
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gripper_name,
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" ",
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]
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)
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robot_description_semantic = {
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"robot_description_semantic": robot_description_semantic_content
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}
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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)
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# kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")
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robot_description_kinematics = {
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"robot_description_kinematics": robot_description_kinematics
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}
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
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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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namespace=namespace,
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output="both",
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remappings=remappings,
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parameters=[{"use_sim_time": use_sim_time}, robot_description],
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
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)
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rviz = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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namespace=namespace,
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arguments=["-d", rviz_config_file],
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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],
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condition=IfCondition(launch_rviz),
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)
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control = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare(description_package),
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"launch",
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"control.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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"control_space": "task",
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"control_strategy": "effort",
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"has_gripper": "true",
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"namespace": namespace,
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}.items(),
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condition=IfCondition(launch_controllers),
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)
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare(moveit_config_package),
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"launch",
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"moveit.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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"robot_description": robot_description_content,
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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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"tf_prefix": robot_name,
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"with_gripper": with_gripper_condition,
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"robot_description_semantic": robot_description_semantic_content,
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"namespace": namespace,
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}.items(),
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condition=IfCondition(launch_moveit),
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)
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skills = 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_skill_servers"),
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"launch",
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"skills.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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"robot_description": robot_description_content,
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"robot_description_semantic": robot_description_semantic_content,
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"robot_description_kinematics": robot_description_kinematics,
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"use_sim_time": use_sim_time,
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"with_gripper_condition": with_gripper_condition,
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"namespace": namespace,
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}.items(),
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)
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task_planner = 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_task_planner"),
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"launch",
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"task_planner.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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# TBD
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}.items(),
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condition=IfCondition(launch_task_planner),
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)
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perception = 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_perception"),
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"launch",
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"perception.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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# TBD
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}.items(),
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condition=IfCondition(launch_perception),
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)
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asm_config = Node(
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package="rbs_utils",
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namespace=namespace,
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executable="assembly_config_service.py",
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)
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nodes_to_start = [
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robot_state_publisher,
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control,
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moveit,
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skills,
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asm_config,
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# task_planner,
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# perception,
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rviz,
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]
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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="tf_prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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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="true",
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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="",
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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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"launch_rviz", default_value="false", description="Launch RViz?"
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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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"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="true", 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="false",
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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="false", description="Launch gazebo with gui?"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"namespace", default_value="", description="The ROS2 namespace of a 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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"x", default_value="0.0", description="Position of robot in world by X"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"y", default_value="0.0", description="Position of robot in world by Y"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"z", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"roll", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"pitch", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"yaw", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"roll", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"pitch", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"yaw", default_value="0.0", description="Position of robot in world by Z"
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"multi_robot",
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default_value="false",
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description="Flag if you use multi robot 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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"robot_description",
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default_value="",
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description="Robot description that override internal robot desctioption",
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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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