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Fix srdf and urdf loading

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This commit is contained in:
Nicolas Hiillos
2023-03-23 13:00:58 +02:00
parent 8ed714ffe6
commit 4d3e747c2b
1 changed files with 63 additions and 100 deletions
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163
src/lite6_controller/launch/lite6_gazebo.launch.py
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@@ -111,108 +111,71 @@ def launch_setup(context, *args, **kwargs):
}.items(), }.items(),
) )
# URDF
_robot_description_xml = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']
),
#PathJoinSubstitution(
# [
# FindPackageShare('xarm_description'),
# "urdf",
# "lite6",
# #"lite6.urdf.xacro",
# "lite6_robot_macro.xacro",
# ]
#),
" ",
#"name:=", "lite6", " ",
"prefix:=", " ",
"hw_ns:=", hw_ns, " ",
"limited:=", limited, " ",
"effort_control:=", effort_control, " ",
"velocity_control:=", velocity_control, " ",
"add_gripper:=", add_gripper, " ",
"add_vacuum_gripper:=", add_vacuum_gripper, " ",
"dof:=", dof, " ",
"robot_type:=", robot_type, " ",
"ros2_control_plugin:=", ros2_control_plugin, " ",
#"ros2_control_params:=", ros2_control_params, " ",
"add_other_geometry:=", add_other_geometry, " ", mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('custom_xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
"geometry_type:=", geometry_type, " ", #mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('draw_svg'), 'launch', 'robots', 'xarm_with_pen.py'))
"geometry_mass:=", geometry_mass, " ", get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
"geometry_height:=", geometry_height, " ", robot_description = {
"geometry_radius:=", geometry_radius, " ", 'robot_description': get_xacro_file_content(
"geometry_length:=", geometry_length, " ", xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
"geometry_width:=", geometry_width, " ", #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
"geometry_mesh_filename:=", geometry_mesh_filename, " ", arguments={
"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ", 'prefix': prefix,
"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ", 'dof': dof,
"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ", 'robot_type': robot_type,
"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ", 'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
#"robot_ip:=", robot_ip, " ", 'hw_ns': hw_ns.perform(context).strip('/'),
#"report_type:=", report_type, " ", 'limited': limited,
#"baud_checkset:=", baud_checkset, " ", 'effort_control': effort_control,
#"default_gripper_baud:=", default_gripper_baud, " ", 'velocity_control': velocity_control,
] 'ros2_control_plugin': ros2_control_plugin,
) #'ros2_control_params': ros2_control_params,
# TODO fix URDF loading 'add_other_geometry': add_other_geometry,
# xacro urdf/xarm_pen.urdf.xacro prefix:= hw_ns:=xarm dof:=6 limited:=false effort_control:=false velocity_control:=false add_gripper:=false add_vacuum_gripper:=false robot_type:=lite ros2_control_plugin:=gazebo_ros2_control/GazeboSystem add_other_geometry:=false geometry_type:=cylinder geometry_mass:=0.05 geometry_height:=0.1 geometry_radius:=0.005 geometry_length:=0.07 geometry_width:=0.1 geometry_mesh_filename:= geometry_mesh_origin_xyz:="0 0 0" geometry_mesh_origin_rpy:="0 0 0" geometry_mesh_tcp_xyz:="0 0 0" geometry_mesh_tcp_rpy:="0 0 0" 'geometry_type': geometry_type,
_robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])]) 'geometry_mass': geometry_mass,
robot_description = {"robot_description": _robot_description_xml} 'geometry_height': geometry_height,
# SRDF 'geometry_radius': geometry_radius,
_robot_description_semantic_xml = Command( 'geometry_length': geometry_length,
[ 'geometry_width': geometry_width,
PathJoinSubstitution([FindExecutable(name="xacro")]), 'geometry_mesh_filename': geometry_mesh_filename,
" ", 'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
PathJoinSubstitution( 'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
[ 'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
FindPackageShare('custom_xarm_moveit_config'), 'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
"srdf", }
#"_lite6_macro.srdf.xacro", ),
"xarm.srdf.xacro", }
]
),
" ",
#"name:=", "lite6", " ",
"prefix:=", " ",
#"hw_ns:=", hw_ns, " ",
#"limited:=", limited, " ",
#"effort_control:=", effort_control, " ",
#"velocity_control:=", velocity_control, " ",
#"add_gripper:=", add_gripper, " ",
#"add_vacuum_gripper:=", add_vacuum_gripper, " ",
"dof:=", dof, " ",
"robot_type:=", robot_type, " ",
#"ros2_control_plugin:=", ros2_control_plugin, " ",
#"ros2_control_params:=", ros2_control_params, " ",
#"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, " ",
#"robot_ip:=", robot_ip, " ",
#"report_type:=", report_type, " ",
#"baud_checkset:=", baud_checkset, " ",
#"default_gripper_baud:=", default_gripper_baud, " ",
]
)
robot_description_semantic = { robot_description_semantic = {
"robot_description_semantic": _robot_description_semantic_xml 'robot_description_semantic': get_xacro_file_content(
xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
#xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
arguments={
'prefix': prefix,
'dof': dof,
'robot_type': robot_type,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'hw_ns': hw_ns.perform(context).strip('/'),
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'ros2_control_plugin': ros2_control_plugin,
#'ros2_control_params': ros2_control_params,
'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,
}
),
} }