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This commit is contained in:
Nicolas Hiillos
2022-11-22 18:11:17 +02:00
parent 1acb8a172b
commit 51ae0b5b9e
4 changed files with 622 additions and 6 deletions
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119
src/draw_svg/launch/lite6_pen.launch.py
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@@ -7,7 +7,7 @@ from launch.launch_description_sources import load_python_launch_file_as_module
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command, FindExecutable
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.event_handlers import OnProcessExit
@@ -109,14 +109,123 @@ def launch_setup(context, *args, **kwargs):
}.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, " ",
"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, " ",
]
)
# TODO fix URDF loading
# 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"
_robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])])
robot_description = {"robot_description": _robot_description_xml}
# SRDF
_robot_description_semantic_xml = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[
FindPackageShare('xarm_moveit_config'),
"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_xml
}
nodes = [
Node(
package="draw_svg",
executable="follow.py",
executable="follow",
output="log",
arguments=["--ros-args", "--log-level", log_level],
parameters=[{"use_sim_time": use_sim_time}],
parameters=[
robot_description,
robot_description_semantic,
{"use_sim_time": use_sim_time},
],
),
Node(
package="draw_svg",
@@ -134,10 +243,10 @@ def launch_setup(context, *args, **kwargs):
),
]
return nodes + [
return [
robot_moveit_common_launch,
robot_gazebo_launch,
]
] + nodes
def generate_launch_description():