353 lines
13 KiB
Python
353 lines
13 KiB
Python
import os
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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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)
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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 Command, FindExecutable, 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 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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"rbs_robot_type",
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description="Type of robot by name",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="ur5e",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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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="ur_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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"controllers_with_gripper_file",
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default_value="ur_plus_gripper_controllers.yaml",
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description="YAML file with the UR + gripper_controller 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="ur_description",
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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="ur.urdf.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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"prefix",
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default_value='""',
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description="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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"initial_gripper_controller",
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default_value="gripper_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="ur_moveit_config",
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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="ur.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. 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("with_gripper", default_value="true", description="With gripper or not?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo", default_value="true", description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_mujoco", default_value="false", description="Mujoco Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
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)
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declared_arguments.append(
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DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulator (Gazebo)? Most general arg")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_perception", default_value="false", description="Launch perception?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_task_planner", default_value="true", description="Launch task_planner?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("cartesian_controllers", default_value="false", description="Load cartesian controllers?")
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)
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# Initialize Arguments
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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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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prefix = LaunchConfiguration("prefix")
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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_rviz = LaunchConfiguration("launch_rviz")
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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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sim_mujoco = LaunchConfiguration("sim_mujoco")
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sim_fake = LaunchConfiguration("sim_fake")
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env_manager = LaunchConfiguration("env_manager")
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", controllers_file]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
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)
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mujoco_model = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "mujoco_model", "current_mj.xml"]
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)
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robot_description_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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[FindPackageShare(description_package), "urdf", description_file]
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),
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" ",
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"safety_limits:=", safety_limits, " ",
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"safety_pos_margin:=", safety_pos_margin, " ",
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"safety_k_position:=", safety_k_position, " ",
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"name:=", "ur", " ",
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"ur_type:=", rbs_robot_type, " ",
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"prefix:=", prefix, " ",
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"sim_mujoco:=", sim_mujoco, " ",
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"sim_gazebo:=", sim_gazebo, " ",
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"sim_fake:=", sim_fake, " ",
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"simulation_controllers:=", initial_joint_controllers_file_path, " ",
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"with_gripper:=", with_gripper_condition, " ",
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"mujoco_model:=", mujoco_model,
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]
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)
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robot_description = {"robot_description": robot_description_content}
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# MoveIt Configuration
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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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[FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
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), " ",
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"name:=", "ur", " ",
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"prefix:=", prefix, " ",
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"with_gripper:=", with_gripper_condition
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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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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robot_state_publisher = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[{"use_sim_time": True}, robot_description],
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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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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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],
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condition=IfCondition(launch_rviz))
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control = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('ur_description'),
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'launch',
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'control.launch.py'
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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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'robot_description': robot_description_content,
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'start_joint_controller': start_joint_controller,
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'initial_joint_controller': initial_joint_controller,
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'controllers_file': controllers_file,
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"cartesian_controllers": cartesian_controllers
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}.items())
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simulation = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_simulation'),
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'launch',
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'simulation.launch.py'
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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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'rbs_robot_type': rbs_robot_type,
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'env_manager': env_manager
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}.items(),
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condition=IfCondition(launch_simulation))
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('ur_moveit_config'),
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'launch',
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'moveit.launch.py'
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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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'prefix': prefix,
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'with_gripper': with_gripper_condition,
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'robot_description_semantic': robot_description_semantic_content
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}.items(),
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condition=IfCondition(launch_moveit))
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task_planner = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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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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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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perception = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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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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launch_arguments={
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# TBD
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}.items(),
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condition=IfCondition(launch_perception))
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nodes_to_start = [
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robot_state_publisher,
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rviz,
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control,
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simulation,
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moveit,
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task_planner,
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perception
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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