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
151 lines
5.4 KiB
Python
151 lines
5.4 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 ComposableNodeContainer, Node
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from launch_ros.actions.composable_node_container import ComposableNode
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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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use_moveit = LaunchConfiguration("use_moveit")
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ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
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base_link_name = LaunchConfiguration("base_link_name").perform(context)
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# with_gripper_condition = LaunchConfiguration("with_gripper_condition")
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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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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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skills_container = ComposableNodeContainer(
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name="skills",
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namespace=namespace,
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package="rclcpp_components",
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# prefix=['gdbserver localhost:1234'],
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executable="component_container_mt",
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composable_node_descriptions=[
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ComposableNode(
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package="rbs_skill_servers",
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plugin="rbs_skill_actions::MoveToJointStateActionServer",
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name="mtjs_jtc",
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parameters=[{"use_sim_time": use_sim_time}],
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),
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ComposableNode(
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package="rbs_skill_servers",
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plugin="rbs_skill_actions::CartesianMoveToPose",
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name="mtp_cart",
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parameters=[
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{"use_sim_time": use_sim_time},
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{"robot_name": namespace},
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],
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),
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ComposableNode(
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package="rbs_skill_servers",
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plugin="rbs_skill_actions::MoveToPose",
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name="mtp_jtc",
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parameters=[
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{"use_sim_time": use_sim_time},
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{"robot_name": namespace},
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robot_description,
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],
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),
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ComposableNode(
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package="rbs_skill_servers",
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plugin="rbs_skill_actions::MoveToPoseJtcCartesian",
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name="mtp_jtc_cart",
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parameters=[
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{"use_sim_time": use_sim_time},
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{"robot_name": namespace},
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{"base_link": base_link_name},
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{"robot_ee_link": ee_link_name},
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robot_description,
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],
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),
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ComposableNode(
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package="rbs_skill_servers",
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plugin="rbs_skill_actions::MoveitMtp",
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name="mtp_moveit",
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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(use_moveit),
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),
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ComposableNode(
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package="rbs_skill_servers",
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plugin="rbs_skill_actions::MoveitMtpCart",
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name="mtp_moveit_cart",
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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(use_moveit),
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),
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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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skills_container,
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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(
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DeclareLaunchArgument("use_sim_time", default_value="false")
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)
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declared_arguments.append(
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DeclareLaunchArgument("use_moveit", default_value="false")
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)
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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("namespace", default_value="")
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)
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declared_arguments.append(
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DeclareLaunchArgument("ee_link_name", default_value="")
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)
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declared_arguments.append(
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DeclareLaunchArgument("base_link_name", default_value="")
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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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