Add test version of launch file for real robot
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245
src/draw_svg/launch/lite6_real.launch.py
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245
src/draw_svg/launch/lite6_real.launch.py
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#!/usr/bin/env -S ros2 launch
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"""Launch Python example for following a target"""
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import os
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from ament_index_python import get_package_share_directory
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from launch.launch_description_sources import load_python_launch_file_as_module
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command, FindExecutable
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch.event_handlers import OnProcessExit
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from launch.actions import OpaqueFunction
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def launch_setup(context, *args, **kwargs):
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use_sim_time = LaunchConfiguration("use_sim_time", default=True)
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log_level = LaunchConfiguration("log_level", default='warn')
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rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
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prefix = LaunchConfiguration('prefix', default='')
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hw_ns = LaunchConfiguration('hw_ns', default='xarm')
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limited = LaunchConfiguration('limited', default=False)
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effort_control = LaunchConfiguration('effort_control', default=False)
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velocity_control = LaunchConfiguration('velocity_control', default=False)
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add_gripper = LaunchConfiguration('add_gripper', default=False)
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add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
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dof = LaunchConfiguration('dof', default=6)
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robot_type = LaunchConfiguration('robot_type', default='lite')
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ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
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add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
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#geometry_type = LaunchConfiguration('geometry_type', default='box')
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geometry_type = LaunchConfiguration('geometry_type', default='cylinder')
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geometry_mass = LaunchConfiguration('geometry_mass', default=0.05)
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geometry_height = LaunchConfiguration('geometry_height', default=0.1)
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geometry_radius = LaunchConfiguration('geometry_radius', default=0.005)
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geometry_length = LaunchConfiguration('geometry_length', default=0.07)
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geometry_width = LaunchConfiguration('geometry_width', default=0.1)
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geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
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geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
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geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
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geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
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geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
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load_controller = LaunchConfiguration('load_controller', default=True)
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ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
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ros2_control_plugin = 'gazebo_ros2_control/GazeboSystem'
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controllers_name = 'fake_controllers'
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moveit_controller_manager_key = 'moveit_simple_controller_manager'
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moveit_controller_manager_value = 'moveit_simple_controller_manager/MoveItSimpleControllerManager'
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robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
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report_type = LaunchConfiguration('report_type', default='normal')
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prefix = LaunchConfiguration('prefix', default='')
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hw_ns = LaunchConfiguration('hw_ns', default='ufactory')
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limited = LaunchConfiguration('limited', default=True)
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effort_control = LaunchConfiguration('effort_control', default=False)
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velocity_control = LaunchConfiguration('velocity_control', default=False)
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add_gripper = LaunchConfiguration('add_gripper', default=False)
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add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
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add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
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geometry_type = LaunchConfiguration('geometry_type', default='box')
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geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
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geometry_height = LaunchConfiguration('geometry_height', default=0.1)
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geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
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geometry_length = LaunchConfiguration('geometry_length', default=0.1)
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geometry_width = LaunchConfiguration('geometry_width', default=0.1)
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geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
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geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
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geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
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geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
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geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
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# robot moveit realmove launch
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# xarm_moveit_config/launch/_robot_moveit_realmove.launch.py
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robot_moveit_realmove_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_realmove.launch.py'])),
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launch_arguments={
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'robot_ip': robot_ip,
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'report_type': report_type,
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'prefix': prefix,
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'hw_ns': hw_ns,
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'limited': limited,
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'effort_control': effort_control,
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'velocity_control': velocity_control,
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'add_gripper': add_gripper,
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'add_vacuum_gripper': add_vacuum_gripper,
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'dof': '6',
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'robot_type': 'lite',
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'no_gui_ctrl': 'false',
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'add_other_geometry': add_other_geometry,
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'geometry_type': geometry_type,
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'geometry_mass': geometry_mass,
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'geometry_height': geometry_height,
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'geometry_radius': geometry_radius,
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'geometry_length': geometry_length,
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'geometry_width': geometry_width,
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'geometry_mesh_filename': geometry_mesh_filename,
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'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
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'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
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'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
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'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
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}.items(),
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)
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# URDF
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_robot_description_xml = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']
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),
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#PathJoinSubstitution(
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# [
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# FindPackageShare('xarm_description'),
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# "urdf",
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# "lite6",
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# #"lite6.urdf.xacro",
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# "lite6_robot_macro.xacro",
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# ]
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#),
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" ",
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#"name:=", "lite6", " ",
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"prefix:=", " ",
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"hw_ns:=", hw_ns, " ",
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"limited:=", limited, " ",
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"effort_control:=", effort_control, " ",
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"velocity_control:=", velocity_control, " ",
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"add_gripper:=", add_gripper, " ",
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"add_vacuum_gripper:=", add_vacuum_gripper, " ",
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"dof:=", dof, " ",
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"robot_type:=", robot_type, " ",
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"ros2_control_plugin:=", ros2_control_plugin, " ",
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#"ros2_control_params:=", ros2_control_params, " ",
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"add_other_geometry:=", add_other_geometry, " ",
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"geometry_type:=", geometry_type, " ",
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"geometry_mass:=", geometry_mass, " ",
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"geometry_height:=", geometry_height, " ",
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"geometry_radius:=", geometry_radius, " ",
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"geometry_length:=", geometry_length, " ",
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"geometry_width:=", geometry_width, " ",
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"geometry_mesh_filename:=", geometry_mesh_filename, " ",
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"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
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"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
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"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
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"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
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#"robot_ip:=", robot_ip, " ",
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#"report_type:=", report_type, " ",
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#"baud_checkset:=", baud_checkset, " ",
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#"default_gripper_baud:=", default_gripper_baud, " ",
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]
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)
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# TODO fix URDF loading
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# 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"
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_robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])])
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robot_description = {"robot_description": _robot_description_xml}
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# SRDF
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_robot_description_semantic_xml = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare('xarm_moveit_config'),
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"srdf",
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#"_lite6_macro.srdf.xacro",
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"xarm.srdf.xacro",
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]
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),
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" ",
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#"name:=", "lite6", " ",
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"prefix:=", " ",
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#"hw_ns:=", hw_ns, " ",
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#"limited:=", limited, " ",
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#"effort_control:=", effort_control, " ",
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#"velocity_control:=", velocity_control, " ",
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#"add_gripper:=", add_gripper, " ",
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#"add_vacuum_gripper:=", add_vacuum_gripper, " ",
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"dof:=", dof, " ",
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"robot_type:=", robot_type, " ",
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#"ros2_control_plugin:=", ros2_control_plugin, " ",
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#"ros2_control_params:=", ros2_control_params, " ",
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#"add_other_geometry:=", add_other_geometry, " ",
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#"geometry_type:=", geometry_type, " ",
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#"geometry_mass:=", geometry_mass, " ",
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#"geometry_height:=", geometry_height, " ",
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#"geometry_radius:=", geometry_radius, " ",
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#"geometry_length:=", geometry_length, " ",
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#"geometry_width:=", geometry_width, " ",
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#"geometry_mesh_filename:=", geometry_mesh_filename, " ",
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#"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
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#"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
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#"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
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#"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
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#"robot_ip:=", robot_ip, " ",
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#"report_type:=", report_type, " ",
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#"baud_checkset:=", baud_checkset, " ",
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#"default_gripper_baud:=", default_gripper_baud, " ",
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]
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)
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robot_description_semantic = {
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"robot_description_semantic": _robot_description_semantic_xml
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}
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nodes = [
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Node(
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package="draw_svg",
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executable="follow",
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output="log",
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arguments=["--ros-args", "--log-level", log_level],
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parameters=[
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robot_description,
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robot_description_semantic,
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{"use_sim_time": use_sim_time},
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],
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),
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Node(
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package="draw_svg",
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executable="draw_svg.py",
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output="log",
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arguments=["--ros-args", "--log-level", log_level],
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parameters=[{"use_sim_time": use_sim_time}],
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),
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]
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return [
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robot_moveit_realmove_launch,
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] + nodes
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def generate_launch_description():
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return LaunchDescription([
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OpaqueFunction(function=launch_setup)
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])
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