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_robot_moveit_fake.launch.py
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <[email protected]> <[email protected]>
import os
import yaml
from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
from uf_ros_lib.moveit_configs_builder import MoveItConfigsBuilder
from uf_ros_lib.uf_robot_utils import generate_ros2_control_params_temp_file
def launch_setup(context, *args, **kwargs):
dof = LaunchConfiguration('dof', default=7)
robot_type = LaunchConfiguration('robot_type', default='xarm')
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=True)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
model1300 = LaunchConfiguration('model1300', default=False)
robot_sn = LaunchConfiguration('robot_sn', default='')
attach_to = LaunchConfiguration('attach_to', default='world')
attach_xyz = LaunchConfiguration('attach_xyz', default='"0 0 0"')
attach_rpy = LaunchConfiguration('attach_rpy', default='"0 0 0"')
mesh_suffix = LaunchConfiguration('mesh_suffix', default='stl')
kinematics_suffix = LaunchConfiguration('kinematics_suffix', default='')
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
add_bio_gripper = LaunchConfiguration('add_bio_gripper', default=False)
add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
add_d435i_links = LaunchConfiguration('add_d435i_links', default=True)
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
geometry_type = LaunchConfiguration('geometry_type', default='box')
geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
geometry_length = LaunchConfiguration('geometry_length', default=0.1)
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)
ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
ros2_control_plugin = 'uf_robot_hardware/UFRobotFakeSystemHardware'
controllers_name = 'fake_controllers'
xarm_type = '{}{}'.format(robot_type.perform(context), dof.perform(context) if robot_type.perform(context) in ('xarm', 'lite') else '')
ros2_control_params = generate_ros2_control_params_temp_file(
os.path.join(get_package_share_directory('xarm_controller'), 'config', '{}_controllers.yaml'.format(xarm_type)),
prefix=prefix.perform(context),
add_gripper=add_gripper.perform(context) in ('True', 'true'),
add_bio_gripper=add_bio_gripper.perform(context) in ('True', 'true'),
ros_namespace=ros_namespace,
robot_type=robot_type.perform(context)
)
moveit_config = MoveItConfigsBuilder(
context=context,
controllers_name=controllers_name,
dof=dof,
robot_type=robot_type,
prefix=prefix,
hw_ns=hw_ns,
limited=limited,
effort_control=effort_control,
velocity_control=velocity_control,
model1300=model1300,
robot_sn=robot_sn,
attach_to=attach_to,
attach_xyz=attach_xyz,
attach_rpy=attach_rpy,
mesh_suffix=mesh_suffix,
kinematics_suffix=kinematics_suffix,
ros2_control_plugin=ros2_control_plugin,
ros2_control_params=ros2_control_params,
add_gripper=add_gripper,
add_vacuum_gripper=add_vacuum_gripper,
add_bio_gripper=add_bio_gripper,
add_realsense_d435i=add_realsense_d435i,
add_d435i_links=add_d435i_links,
add_other_geometry=add_other_geometry,
geometry_type=geometry_type,
geometry_mass=geometry_mass,
geometry_height=geometry_height,
geometry_radius=geometry_radius,
geometry_length=geometry_length,
geometry_width=geometry_width,
geometry_mesh_filename=geometry_mesh_filename,
geometry_mesh_origin_xyz=geometry_mesh_origin_xyz,
geometry_mesh_origin_rpy=geometry_mesh_origin_rpy,
geometry_mesh_tcp_xyz=geometry_mesh_tcp_xyz,
geometry_mesh_tcp_rpy=geometry_mesh_tcp_rpy,
).to_moveit_configs()
# robot description launch
# xarm_description/launch/_robot_description.launch.py
robot_description_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])),
launch_arguments={
'robot_description': yaml.dump(moveit_config.robot_description),
}.items(),
)
# robot moveit common launch
# xarm_moveit_config/launch/_robot_moveit_common2.launch.py
robot_moveit_common_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common2.launch.py'])),
launch_arguments={
'prefix': prefix,
'attach_to': attach_to,
'attach_xyz': attach_xyz,
'attach_rpy': attach_rpy,
'no_gui_ctrl': no_gui_ctrl,
'use_sim_time': 'false',
'moveit_config_dump': yaml.dump(moveit_config.to_dict()),
}.items(),
)
controllers = ['{}{}_traj_controller'.format(prefix.perform(context), xarm_type)]
if add_gripper.perform(context) in ('True', 'true') and robot_type.perform(context) != 'lite':
controllers.append('{}{}_gripper_traj_controller'.format(prefix.perform(context), robot_type.perform(context)))
elif add_bio_gripper.perform(context) in ('True', 'true') and robot_type.perform(context) != 'lite':
controllers.append('{}bio_gripper_traj_controller'.format(prefix.perform(context)))
# ros2 control launch
# xarm_controller/launch/_ros2_control.launch.py
ros2_control_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_controller'), 'launch', '_ros2_control.launch.py'])),
launch_arguments={
'robot_description': yaml.dump(moveit_config.robot_description),
'ros2_control_params': ros2_control_params,
}.items(),
)
joint_state_broadcaster = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=[
'joint_state_broadcaster',
'--controller-manager', '{}/controller_manager'.format(ros_namespace)
],
)
# Load controllers
controller_nodes = []
for controller in controllers:
controller_nodes.append(Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=[
controller,
'--controller-manager', '{}/controller_manager'.format(ros_namespace)
],
))
return [
robot_description_launch,
robot_moveit_common_launch,
joint_state_broadcaster,
ros2_control_launch,
] + controller_nodes
def generate_launch_description():
return LaunchDescription([
OpaqueFunction(function=launch_setup)
])