Bill Finger
fbddca1b8b
- **Scene configuration:** - Replaced `bishop` object with `hole` and added a new `peg` object. - Enhanced object properties with new attributes like `randomize`, `relative_to`, `static`, and `texture`. - Updated `robot` joint positions in the default scene configuration. - **Launch file updates:** - Added handling for MoveIt SRDF file processing, including semantic descriptions. - Refactored unused parameters (`gripper_name`, `hardware`) and streamlined arguments. - Extended `robot_type` choices in the `generate_launch_description` method. - **Runtime initialization:** - Introduced `object_factory` to handle dynamic object instantiation based on type (`box`, `cylinder`, `mesh`, or `model`). - Enhanced `scene_config_loader` to process and instantiate objects using the factory function.
313 lines
10 KiB
Python
313 lines
10 KiB
Python
import os
|
|
|
|
from launch.launch_introspector import indent
|
|
import xacro
|
|
from ament_index_python.packages import get_package_share_directory
|
|
from launch import LaunchDescription
|
|
from launch.actions import (
|
|
DeclareLaunchArgument,
|
|
IncludeLaunchDescription,
|
|
OpaqueFunction,
|
|
TimerAction,
|
|
)
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
|
|
from robot_builder.parser.urdf import URDF_parser
|
|
from robot_builder.external.ros2_control import ControllerManager
|
|
import yaml
|
|
|
|
|
|
def launch_setup(context, *args, **kwargs):
|
|
# Initialize Arguments
|
|
robot_type = LaunchConfiguration("robot_type")
|
|
# General arguments
|
|
with_gripper_condition = LaunchConfiguration("with_gripper")
|
|
description_package = LaunchConfiguration("description_package")
|
|
description_file = LaunchConfiguration("description_file")
|
|
use_moveit = LaunchConfiguration("use_moveit")
|
|
moveit_config_package = LaunchConfiguration("moveit_config_package")
|
|
moveit_config_file = LaunchConfiguration("moveit_config_file")
|
|
use_sim_time = LaunchConfiguration("use_sim_time")
|
|
scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
|
|
|
|
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
|
|
base_link_name = LaunchConfiguration("base_link_name").perform(context)
|
|
|
|
control_space = LaunchConfiguration("control_space").perform(context)
|
|
control_strategy = LaunchConfiguration("control_strategy").perform(context)
|
|
|
|
interactive = LaunchConfiguration("interactive").perform(context)
|
|
|
|
if not scene_config_file == "":
|
|
config_file = {"config_file": scene_config_file}
|
|
else:
|
|
config_file = {}
|
|
|
|
description_package_abs_path = get_package_share_directory(
|
|
description_package.perform(context)
|
|
)
|
|
|
|
simulation_controllers = os.path.join(
|
|
description_package_abs_path, "config", "controllers.yaml"
|
|
)
|
|
|
|
xacro_file = os.path.join(
|
|
description_package_abs_path,
|
|
"urdf",
|
|
description_file.perform(context),
|
|
)
|
|
|
|
xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
|
|
|
|
|
|
# TODO: hide this to another place
|
|
# Load xacro_args
|
|
def param_constructor(loader, node, local_vars):
|
|
value = loader.construct_scalar(node)
|
|
return LaunchConfiguration(value).perform(
|
|
local_vars.get("context", "Launch context if not defined")
|
|
)
|
|
|
|
def variable_constructor(loader, node, local_vars):
|
|
value = loader.construct_scalar(node)
|
|
return local_vars.get(value, f"Variable '{value}' not found")
|
|
|
|
def load_xacro_args(yaml_file, local_vars):
|
|
# Get valut from ros2 argument
|
|
yaml.add_constructor(
|
|
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
|
|
)
|
|
|
|
# Get value from local variable in this code
|
|
# The local variable should be initialized before the loader was called
|
|
yaml.add_constructor(
|
|
"!variable",
|
|
lambda loader, node: variable_constructor(loader, node, local_vars),
|
|
)
|
|
|
|
with open(yaml_file, "r") as file:
|
|
return yaml.load(file, Loader=yaml.FullLoader)
|
|
|
|
mappings_data = load_xacro_args(xacro_config_file, locals())
|
|
|
|
robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
|
|
|
|
robot_description_semantic_content = ""
|
|
|
|
if use_moveit.perform(context) == "true":
|
|
srdf_config_file = f"{description_package_abs_path}/config/srdf_xacro_args.yaml"
|
|
srdf_file = os.path.join(
|
|
get_package_share_directory(moveit_config_package.perform(context)),
|
|
"srdf",
|
|
moveit_config_file.perform(context),
|
|
)
|
|
srdf_mappings = load_xacro_args(srdf_config_file, locals())
|
|
robot_description_semantic_content = xacro.process_file(srdf_file, mappings=srdf_mappings)
|
|
robot_description_semantic_content = robot_description_semantic_content.toprettyxml(indent=" ")
|
|
control_space = "joint"
|
|
control_strategy = "position"
|
|
interactive = "false"
|
|
|
|
|
|
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
|
|
robot_description = {"robot_description": robot_description_content}
|
|
|
|
# Parse robot and configure controller's file for ControllerManager
|
|
robot = URDF_parser.load_string(
|
|
robot_description_content, ee_link_name=ee_link_name
|
|
)
|
|
ControllerManager.save_to_yaml(
|
|
robot, description_package_abs_path, "controllers.yaml"
|
|
)
|
|
|
|
rbs_robot_setup = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource(
|
|
[
|
|
PathJoinSubstitution(
|
|
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
|
|
)
|
|
]
|
|
),
|
|
launch_arguments={
|
|
"with_gripper": with_gripper_condition,
|
|
"controllers_file": simulation_controllers,
|
|
"robot_type": robot_type,
|
|
"description_package": description_package,
|
|
"description_file": description_file,
|
|
"robot_name": robot_type,
|
|
"use_moveit": use_moveit,
|
|
"moveit_config_package": moveit_config_package,
|
|
"moveit_config_file": moveit_config_file,
|
|
"use_sim_time": use_sim_time,
|
|
"use_controllers": "true",
|
|
"robot_description": robot_description_content,
|
|
"robot_description_semantic": robot_description_semantic_content,
|
|
"base_link_name": base_link_name,
|
|
"ee_link_name": ee_link_name,
|
|
"control_space": control_space,
|
|
"control_strategy": control_strategy,
|
|
"interactive_control": interactive,
|
|
}.items(),
|
|
)
|
|
|
|
rbs_runtime = Node(
|
|
package="rbs_runtime",
|
|
executable="runtime",
|
|
parameters=[robot_description, config_file, {"use_sim_time": True}],
|
|
)
|
|
|
|
clock_bridge = Node(
|
|
package="ros_gz_bridge",
|
|
executable="parameter_bridge",
|
|
arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
|
|
output="screen",
|
|
)
|
|
|
|
delay_robot_control_stack = TimerAction(period=10.0, actions=[rbs_robot_setup])
|
|
|
|
nodes_to_start = [
|
|
rbs_runtime,
|
|
clock_bridge,
|
|
delay_robot_control_stack
|
|
]
|
|
return nodes_to_start
|
|
|
|
|
|
def generate_launch_description():
|
|
declared_arguments = []
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"robot_type",
|
|
description="Type of robot by name",
|
|
choices=[
|
|
"rbs_arm",
|
|
"ar4",
|
|
"ur3",
|
|
"ur3e",
|
|
"ur5",
|
|
"ur5e",
|
|
"ur10",
|
|
"ur10e",
|
|
"ur16e",
|
|
],
|
|
default_value="rbs_arm",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"description_package",
|
|
default_value="rbs_arm",
|
|
description="Description package with robot URDF/XACRO files. Usually the argument \
|
|
is not set, it enables use of a custom description.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"description_file",
|
|
default_value="rbs_arm_modular.xacro",
|
|
description="URDF/XACRO description file with the robot.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"robot_name",
|
|
default_value="arm0",
|
|
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"moveit_config_package",
|
|
default_value="rbs_arm",
|
|
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
|
|
is not set, it enables use of a custom moveit config.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"moveit_config_file",
|
|
default_value="rbs_arm.srdf.xacro",
|
|
description="MoveIt SRDF/XACRO description file with the robot.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"use_sim_time",
|
|
default_value="true",
|
|
description="Make MoveIt to use simulation time.\
|
|
This is needed for the trajectory planing in simulation.",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"with_gripper", default_value="true", description="With gripper or not?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"use_moveit", default_value="false", description="Launch moveit?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"launch_perception", default_value="false", description="Launch perception?"
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"use_controllers",
|
|
default_value="true",
|
|
description="Launch controllers?",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"scene_config_file",
|
|
default_value="",
|
|
description="Path to a scene configuration file",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"ee_link_name",
|
|
default_value="",
|
|
description="End effector name of robot arm",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"base_link_name",
|
|
default_value="",
|
|
description="Base link name if robot arm",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"control_space",
|
|
default_value="task",
|
|
choices=["task", "joint"],
|
|
description="Specify the control space for the robot (e.g., task space).",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"control_strategy",
|
|
default_value="position",
|
|
choices=["position", "velocity", "effort"],
|
|
description="Specify the control strategy (e.g., position control).",
|
|
)
|
|
)
|
|
declared_arguments.append(
|
|
DeclareLaunchArgument(
|
|
"interactive",
|
|
default_value="true",
|
|
description="Wheter to run the motion_control_handle controller",
|
|
),
|
|
)
|
|
|
|
return LaunchDescription(
|
|
declared_arguments + [OpaqueFunction(function=launch_setup)]
|
|
)
|