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Add correction to rrbot launch using arguments and reuse the main fil…
…e for starting examples.
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2 changes: 1 addition & 1 deletion
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ros2_control_demo_robot/description/rrbot/rrbot.materials.xacro
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17 changes: 12 additions & 5 deletions
17
ros2_control_demo_robot/description/rrbot/rrbot_system_position_only.ros2_control.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,135 @@ | ||
| # Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the 'License'); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an 'AS IS' BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, ExecuteProcess | ||
| from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution | ||
|
|
||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| # Declare arguments | ||
| declared_arguments = [] | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'controllers_package', default_value='ros2_control_demo_robot', | ||
| description='Package with the controller\'s configuration in "config" folder. \ | ||
| Usually the argument is not set, it enables use of a custom setup.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'controllers_file', default_value='rrbot_controllers.yaml', | ||
| description='YAML file with the controllers configuration.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'description_package', default_value='ros2_control_demo_robot', | ||
| 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='', | ||
| description='URDF/XACRO description file with the robot.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'prefix', default_value='""', description='Prefix of the joint names, useful for \ | ||
| multi-robot setup. If changed than also joint names in the controllers\' configuration \ | ||
| have to be updated.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'use_fake_hardware', default_value='true', | ||
| description='Start robot with fake hardware mirroring command to its states.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'fake_sensor_commands', default_value='false', | ||
| description='Enable fake command interfaces for sensors used for simple simulations. \ | ||
| Used only if \'use_fake_hardware\' parameter is true.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'slowdown', default_value='3.0', description='Slowdown factor of the RRbot.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'robot_controller', default_value='forward_position_controller', | ||
| description='Robot controller to start.')) | ||
|
|
||
| # Initialize Arguments | ||
| controllers_package = LaunchConfiguration('controllers_package') | ||
| controllers_file = LaunchConfiguration('controllers_file') | ||
| description_package = LaunchConfiguration('description_package') | ||
| description_file = LaunchConfiguration('description_file') | ||
| prefix = LaunchConfiguration('prefix') | ||
| use_fake_hardware = LaunchConfiguration('use_fake_hardware') | ||
| fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') | ||
| slowdown = LaunchConfiguration('slowdown') | ||
| robot_controller = LaunchConfiguration('robot_controller') | ||
|
|
||
| # Get URDF via xacro | ||
| robot_description_content = Command([ | ||
| PathJoinSubstitution([FindExecutable(name='xacro')]), | ||
| ' ', | ||
| PathJoinSubstitution([FindPackageShare(description_package), | ||
| 'description', description_file]), | ||
| ' ', | ||
| 'prefix:=', prefix, ' ', | ||
| 'use_fake_hardware:=', use_fake_hardware, ' ', | ||
| 'fake_sensor_commands:=', fake_sensor_commands, ' ', | ||
| 'slowdown:=', slowdown, | ||
| ]) | ||
|
|
||
| robot_description = {'robot_description': robot_description_content} | ||
|
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||
| robot_controllers = PathJoinSubstitution([ | ||
| FindPackageShare(controllers_package), | ||
| 'config', | ||
| controllers_file, | ||
| ]) | ||
| rviz_config_file = PathJoinSubstitution([ | ||
| FindPackageShare(description_package), | ||
| 'rviz', | ||
| 'rrbot.rviz' | ||
| ]) | ||
|
|
||
| control_node = Node( | ||
| package='controller_manager', | ||
| executable='ros2_control_node', | ||
| parameters=[robot_description, robot_controllers], | ||
| output={ | ||
| 'stdout': 'screen', | ||
| 'stderr': 'screen', | ||
| }, | ||
| ) | ||
| robot_state_pub_node = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='both', | ||
| parameters=[robot_description] | ||
| ) | ||
| rviz_node = Node( | ||
| package='rviz2', | ||
| executable='rviz2', | ||
| name='rviz2', | ||
| output='log', | ||
| arguments=['-d', rviz_config_file], | ||
| ) | ||
|
|
||
| joint_state_controller_spawner = Node( | ||
| package='controller_manager', | ||
| executable='spawner.py', | ||
| arguments=['joint_state_controller', '--controller-manager', '/controller_manager']) | ||
|
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| robot_controller_spawner = Node( | ||
| package='controller_manager', | ||
| executable='spawner.py', | ||
| arguments=[robot_controller, '-c', '/controller_manager']) | ||
|
|
||
| return LaunchDescription( | ||
| declared_arguments + | ||
| [ | ||
| control_node, | ||
| robot_state_pub_node, | ||
| rviz_node, | ||
| joint_state_controller_spawner, | ||
| robot_controller_spawner, | ||
| ]) |
104 changes: 46 additions & 58 deletions
104
ros2_control_demo_robot/launch/rrbot_system_position_only.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,74 +1,62 @@ | ||
| # Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # Licensed under the Apache License, Version 2.0 (the 'License'); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # distributed under the License is distributed on an 'AS IS' BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
|
|
||
| from ament_index_python.packages import get_package_share_directory | ||
|
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| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
|
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| import xacro | ||
| from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir | ||
|
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|
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| def generate_launch_description(): | ||
|
|
||
| # Get URDF via xacro | ||
| robot_description_path = os.path.join( | ||
| get_package_share_directory('ros2_control_demo_robot'), | ||
| 'description', | ||
| 'rrbot_system_position_only.urdf.xacro') | ||
| robot_description_config = xacro.process_file(robot_description_path, | ||
| mappings={'slowdown': '3.0'}) | ||
| robot_description = {'robot_description': robot_description_config.toxml()} | ||
|
|
||
| rrbot_forward_controller = os.path.join( | ||
| get_package_share_directory('ros2_control_demo_robot'), | ||
| 'config', | ||
| 'rrbot_controllers.yaml' | ||
| ) | ||
| rviz_config_file = os.path.join( | ||
| get_package_share_directory('ros2_control_demo_robot'), | ||
| 'rviz', | ||
| 'rrbot.rviz' | ||
| ) | ||
|
|
||
| control_node = Node( | ||
| package='controller_manager', | ||
| executable='ros2_control_node', | ||
| parameters=[robot_description, rrbot_forward_controller], | ||
| output={ | ||
| 'stdout': 'screen', | ||
| 'stderr': 'screen', | ||
| }, | ||
| ) | ||
| robot_state_publisher_node = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='both', | ||
| parameters=[robot_description] | ||
| ) | ||
| rviz_node = Node( | ||
| package='rviz2', | ||
| executable='rviz2', | ||
| name='rviz2', | ||
| output='log', | ||
| arguments=['-d', rviz_config_file], | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| control_node, | ||
| robot_state_publisher_node, | ||
| rviz_node, | ||
| ]) | ||
| # Declare arguments | ||
| declared_arguments = [] | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'prefix', default_value='""', description='Prefix of the joint names, useful for \ | ||
| multi-robot setup. If changed than also joint names in the controllers\' configuration \ | ||
| have to be updated.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'use_fake_hardware', default_value='true', | ||
| description='Start robot with fake hardware mirroring command to its states.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'fake_sensor_commands', default_value='false', | ||
| description='Enable fake command interfaces for sensors used for simple simulations. \ | ||
| Used only if \'use_fake_hardware\' parameter is true.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'slowdown', default_value='3.0', description='Slowdown factor of the RRbot.')) | ||
| declared_arguments.append(DeclareLaunchArgument( | ||
| 'robot_controller', default_value='forward_position_controller', | ||
| description='Robot controller to start.')) | ||
|
|
||
| # Initialize Arguments | ||
| prefix = LaunchConfiguration('prefix') | ||
| use_fake_hardware = LaunchConfiguration('use_fake_hardware') | ||
| fake_sensor_commands = LaunchConfiguration('fake_sensor_commands') | ||
| slowdown = LaunchConfiguration('slowdown') | ||
| robot_controller = LaunchConfiguration('robot_controller') | ||
|
|
||
| base_launch = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rrbot.launch.py']), | ||
| launch_arguments={'description_file': 'rrbot_system_position_only.urdf.xacro', | ||
| 'prefix': prefix, | ||
| 'use_fake_hardware': use_fake_hardware, | ||
| 'fake_sensor_commands': fake_sensor_commands, | ||
| 'slowdown': slowdown, | ||
| 'robot_controller': robot_controller, | ||
| }.items()) | ||
|
|
||
| return LaunchDescription( | ||
| declared_arguments + | ||
| [ | ||
| base_launch, | ||
| ]) |