Bill Finger
c48edd0d82
- Fixed a potential issue where `gripper_actuated_joint_names` might be None by adding a conditional check before appending joint positions. - Updated `rbs_bringup.launch.py` to: - Change `with_gripper` default to `false` - Modify `ee_link_name` from `gripper_grasp_point` to `tool0` - Set `interactive` mode to `true`
55 lines
1.6 KiB
Python
55 lines
1.6 KiB
Python
from launch import LaunchDescription
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from launch.actions import (
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IncludeLaunchDescription,
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OpaqueFunction,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import (
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PathJoinSubstitution,
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)
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from launch_ros.substitutions import FindPackageShare
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def launch_setup(context, *args, **kwargs):
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main_script = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[FindPackageShare("rbs_runtime"), "launch", "runtime.launch.py"]
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)
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]
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),
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launch_arguments={
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"with_gripper": "false",
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"robot_type": "rbs_arm",
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"description_package": "rbs_arm",
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"description_file": "rbs_arm_modular.xacro",
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"robot_name": "rbs_arm",
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"use_moveit": "false",
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"moveit_config_package": "rbs_arm",
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"moveit_config_file": "rbs_arm.srdf.xacro",
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"use_sim_time": "true",
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"use_controllers": "true",
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"scene_config_file": "",
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"base_link_name": "base_link",
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"ee_link_name": "tool0",
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"control_space": "task",
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"control_strategy": "position",
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"interactive": "true",
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"use_rbs_utils": "true",
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"assembly_config_name": "board_pick_and_place"
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}.items(),
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)
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nodes_to_start = [
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main_script,
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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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return LaunchDescription(
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declared_arguments + [OpaqueFunction(function=launch_setup)]
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)
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