Bill Finger
dba3b8682a
- Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
130 lines
4.3 KiB
Python
130 lines
4.3 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from rbs_launch_utils.launch_common import load_yaml
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def launch_setup(context, *args, **kwargs):
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robot_description_decl = LaunchConfiguration("robot_description")
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robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic")
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robot_description_kinematics = LaunchConfiguration("robot_description_kinematics")
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use_sim_time = LaunchConfiguration("use_sim_time")
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with_gripper_condition = LaunchConfiguration("with_gripper_condition")
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points_params_filepath_decl = LaunchConfiguration("points_params_filepath")
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robot_description = {"robot_description": robot_description_decl}
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robot_description_semantic = {
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"robot_description_semantic": robot_description_semantic_decl
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}
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namespace = LaunchConfiguration("namespace")
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points_params = load_yaml("rbs_skill_servers", "config/gripperPositions.yaml")
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kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")
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robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
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move_topose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_topose_action_server",
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namespace=namespace,
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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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)
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gripper_control_node = Node(
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package="rbs_skill_servers",
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executable="gripper_control_action_server",
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namespace=namespace,
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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(with_gripper_condition),
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)
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move_cartesian_path_action_server = Node(
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package="rbs_skill_servers",
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executable="move_cartesian_path_action_server",
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namespace=namespace,
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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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)
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cartesian_move_to_pose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_to_pose.py",
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namespace=namespace,
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parameters=[{"use_sim_time": use_sim_time}, {"robot_name": namespace}],
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)
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move_joint_state_action_server = Node(
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package="rbs_skill_servers",
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executable="move_to_joint_states_action_server",
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namespace=namespace,
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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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)
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assembly_config = Node(
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package="rbs_utils",
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executable="assembly_config_service.py",
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namespace=namespace,
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output="screen",
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)
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nodes_to_start = [
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assembly_config,
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move_topose_action_server,
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gripper_control_node,
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move_cartesian_path_action_server,
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move_joint_state_action_server,
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cartesian_move_to_pose_action_server,
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# grasp_pose_loader
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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_description",
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default_value="",
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description="robot description string",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("robot_description_semantic", default_value="")
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)
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declared_arguments.append(
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DeclareLaunchArgument("robot_description_kinematics", default_value="")
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)
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declared_arguments.append(DeclareLaunchArgument("use_sim_time", default_value=""))
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declared_arguments.append(
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DeclareLaunchArgument("with_gripper_condition", default_value="")
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)
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declared_arguments.append(
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DeclareLaunchArgument("points_params_filepath", default_value="")
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)
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declared_arguments.append(DeclareLaunchArgument("namespace", default_value=""))
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return LaunchDescription(
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declared_arguments + [OpaqueFunction(function=launch_setup)]
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)
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