Bill Finger
ea4ae0ed69
- Rename default controllers file `rbs_arm0_controllers.yaml` to `controllers.yaml` across all launch files - Enhance `runtime.launch.py` by adding imports (`URDF_parser`, `ControllerManager`, `yaml`) and new arguments (`scene_config_file`, `ee_link_name`, `base_link_name`) - Implement xacro argument loading via YAML - Configure `robot_builder` to save controllers to `controllers.yaml` based on URDF parsing - Add `control.launch.py` in `rbs_bringup` for dynamic controller spawning based on strategies/configurations - Add `rbs_bringup.launch.py` as a unified entry point for single robot setup, initializing core settings like gripper, robot type, and controllers - Remove `launch_env.launch.py` - Remove `multi_robot.launch.py` - Enhance `rbs_robot.launch.py` with `ee_link_name` and `base_link_name` arguments for end-effector and base link customization - Add `ee_link_name` and `base_link_name` to `skills.launch.py` for flexible robot setup in skills - Update `mtp_jtc_cart.cpp` with `base_link` and `robot_ee_link` parameters for KDL chain retrieval - Remove `single_robot.launch.py` for simplified single robot deployment
87 lines
3.1 KiB
Python
87 lines
3.1 KiB
Python
from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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# from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import LaunchConfiguration
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def create_spawner(controller_name, namespace, condition=None, inactive=False):
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args = [controller_name, "-c", f"{namespace}/controller_manager"]
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if inactive:
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args.append("--inactive")
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return Node(
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package="controller_manager",
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executable="spawner",
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namespace=namespace,
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arguments=args,
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condition=condition,
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)
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def launch_setup(context, *args, **kwargs):
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namespace = LaunchConfiguration("namespace").perform(context)
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control_strategy = LaunchConfiguration("control_strategy").perform(context)
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control_space = LaunchConfiguration("control_space").perform(context)
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has_gripper = LaunchConfiguration("has_gripper").perform(context)
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interactive_control = LaunchConfiguration("interactive_control").perform(context)
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controllers_config = {
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"joint_state_broadcaster": True,
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"gripper_controller": has_gripper == "true",
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"joint_trajectory_controller": control_strategy == "position"
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and control_space == "joint",
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"cartesian_motion_controller": control_strategy == "position"
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and control_space == "task",
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"cartesian_force_controller": control_strategy == "effort"
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and control_space == "task",
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"joint_effort_controller": control_strategy == "effort"
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and control_space == "joint",
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"force_torque_sensor_broadcaster": control_strategy == "effort"
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and control_space == "task",
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"motion_control_handle": interactive_control == "true"
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and control_space == "task"
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and control_strategy == "position",
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}
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nodes_to_start = []
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for controller_name, should_start in controllers_config.items():
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if should_start:
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nodes_to_start.append(create_spawner(controller_name, namespace))
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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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DeclareLaunchArgument(
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"namespace", default_value="", description="A robot's namespace"
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),
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DeclareLaunchArgument(
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"control_space",
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default_value="task",
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choices=["task", "joint"],
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description="Control type: 'task' for Cartesian, 'joint' for joint space control.",
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),
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DeclareLaunchArgument(
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"control_strategy",
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default_value="position",
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choices=["position", "velocity", "effort"],
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description="Control strategy: 'position', 'velocity', or 'effort'.",
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),
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DeclareLaunchArgument(
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"has_gripper",
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default_value="true",
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description="Whether to activate the gripper_controller.",
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),
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DeclareLaunchArgument(
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"interactive_control",
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default_value="true",
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description="Whether to activate the gripper_controller.",
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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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