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
52 lines
1.5 KiB
Python
52 lines
1.5 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": "true",
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"gripper_name": "rbs_gripper",
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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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"hardware": "gazebo",
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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": "gripper_grasp_point",
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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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