Add pen to xarm lite6
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141
src/draw_svg/launch/lite6_pen.launch.py
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141
src/draw_svg/launch/lite6_pen.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
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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 moveit common launch
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# xarm_moveit_config/launch/_robot_moveit_common.launch.py
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robot_moveit_common_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
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launch_arguments={
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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_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
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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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'no_gui_ctrl': 'false',
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'ros2_control_plugin': ros2_control_plugin,
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'controllers_name': controllers_name,
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'moveit_controller_manager_key': moveit_controller_manager_key,
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'moveit_controller_manager_value': moveit_controller_manager_value,
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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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'use_sim_time': 'true'
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}.items(),
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)
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# robot gazebo launch
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# xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
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robot_gazebo_launch = IncludeLaunchDescription(
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#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
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PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.launch.py'])),
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launch_arguments={
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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': dof,
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'robot_type': robot_type,
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'ros2_control_plugin': ros2_control_plugin,
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'load_controller': 'true',
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}.items(),
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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.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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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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nodes[0],
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nodes[1],
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robot_moveit_common_launch,
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robot_gazebo_launch,
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]
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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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