Import example code and basic prototype
This commit is contained in:
150
launch/default.launch.py
Executable file
150
launch/default.launch.py
Executable file
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#!/usr/bin/env -S ros2 launch
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"""Launch default world with the default robot (configurable)"""
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from os import path
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from typing import List
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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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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def generate_launch_description() -> LaunchDescription:
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# Declare all launch arguments
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declared_arguments = generate_declared_arguments()
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# Get substitution for all arguments
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world_type = LaunchConfiguration("world_type")
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robot_type = LaunchConfiguration("robot_type")
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rviz_config = LaunchConfiguration("rviz_config")
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use_sim_time = LaunchConfiguration("use_sim_time")
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ign_verbosity = LaunchConfiguration("ign_verbosity")
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log_level = LaunchConfiguration("log_level")
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# Determine what world/robot combination to launch
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declared_arguments.append(
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DeclareLaunchArgument(
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"__world_launch_basename",
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default_value=["world_", world_type, ".launch.py"],
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),
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"__robot_launch_basename",
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default_value=["robot_", robot_type, ".launch.py"],
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),
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)
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# List of included launch descriptions
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launch_descriptions = [
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# Launch Ignition Gazebo with the required ROS<->IGN bridges
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ign_moveit2_examples"),
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"launch",
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"worlds",
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LaunchConfiguration("__world_launch_basename"),
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]
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)
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),
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launch_arguments=[
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("use_sim_time", use_sim_time),
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("ign_verbosity", ign_verbosity),
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("log_level", log_level),
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],
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),
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# Spawn robot
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ign_moveit2_examples"),
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"launch",
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"robots",
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LaunchConfiguration("__robot_launch_basename"),
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]
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)
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),
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launch_arguments=[
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("use_sim_time", use_sim_time),
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("ign_verbosity", ign_verbosity),
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("log_level", log_level),
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],
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),
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# Launch move_group of MoveIt 2
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare([robot_type, "_moveit_config"]),
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"launch",
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"move_group.launch.py",
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]
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)
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),
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launch_arguments=[
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("ros2_control_plugin", "ign"),
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("ros2_control_command_interface", "effort"),
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# TODO: Re-enable colligion geometry for manipulator arm once spawning with specific joint configuration is enabled
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("collision_arm", "false"),
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("rviz_config", rviz_config),
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("use_sim_time", use_sim_time),
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("log_level", log_level),
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],
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),
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]
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return LaunchDescription(declared_arguments + launch_descriptions)
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def generate_declared_arguments() -> List[DeclareLaunchArgument]:
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"""
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Generate list of all launch arguments that are declared for this launch script.
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"""
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return [
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# World selection
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DeclareLaunchArgument(
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"world_type",
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default_value="default",
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description="Name of the world configuration to load.",
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),
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# Robot selection
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DeclareLaunchArgument(
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"robot_type",
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default_value="panda",
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description="Name of the robot type to use.",
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),
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# Miscellaneous
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DeclareLaunchArgument(
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"rviz_config",
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default_value=path.join(
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get_package_share_directory("ign_moveit2_examples"),
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"rviz",
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"ign_moveit2_examples.rviz",
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),
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description="Path to configuration for RViz2.",
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),
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="If true, use simulated clock.",
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),
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DeclareLaunchArgument(
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"ign_verbosity",
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default_value="2",
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description="Verbosity level for Ignition Gazebo (0~4).",
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),
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DeclareLaunchArgument(
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"log_level",
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default_value="warn",
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description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
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),
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]
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187
launch/ex_cpp_follow_target.launch.py
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187
launch/ex_cpp_follow_target.launch.py
Executable file
@@ -0,0 +1,187 @@
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#!/usr/bin/env -S ros2 launch
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"""Launch C++ example for following a target"""
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from os import path
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from typing import List
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import yaml
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from ament_index_python.packages import get_package_share_directory
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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 import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import (
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Command,
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FindExecutable,
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LaunchConfiguration,
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PathJoinSubstitution,
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)
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def generate_launch_description() -> LaunchDescription:
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# Declare all launch arguments
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declared_arguments = generate_declared_arguments()
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# Get substitution for all arguments
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description_package = LaunchConfiguration("description_package")
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description_filepath = LaunchConfiguration("description_filepath")
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moveit_config_package = "panda_moveit_config"
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robot_type = LaunchConfiguration("robot_type")
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rviz_config = LaunchConfiguration("rviz_config")
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use_sim_time = LaunchConfiguration("use_sim_time")
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ign_verbosity = LaunchConfiguration("ign_verbosity")
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log_level = LaunchConfiguration("log_level")
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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(description_package), description_filepath]
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),
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" ",
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"name:=",
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robot_type,
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]
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)
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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(moveit_config_package),
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"srdf",
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"panda.srdf.xacro",
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]
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),
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" ",
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"name:=",
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robot_type,
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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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# List of included launch descriptions
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launch_descriptions = [
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# Launch world with robot (configured for this example)
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ign_moveit2_examples"),
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"launch",
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"default.launch.py",
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]
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)
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),
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launch_arguments=[
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("world_type", "follow_target"),
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("robot_type", robot_type),
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("rviz_config", rviz_config),
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("use_sim_time", use_sim_time),
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("ign_verbosity", ign_verbosity),
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("log_level", log_level),
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],
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),
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]
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# List of nodes to be launched
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nodes = [
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# Run the example node (C++)
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Node(
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package="ign_moveit2_examples",
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executable="ex_follow_target",
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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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]
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return LaunchDescription(declared_arguments + launch_descriptions + nodes)
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def load_yaml(package_name: str, file_path: str):
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"""
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Load yaml configuration based on package name and file path relative to its share.
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"""
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package_path = get_package_share_directory(package_name)
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absolute_file_path = path.join(package_path, file_path)
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return parse_yaml(absolute_file_path)
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def parse_yaml(absolute_file_path: str):
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"""
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Parse yaml from file, given its absolute file path.
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"""
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try:
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with open(absolute_file_path, "r") as file:
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return yaml.safe_load(file)
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except EnvironmentError:
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return None
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def generate_declared_arguments() -> List[DeclareLaunchArgument]:
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"""
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Generate list of all launch arguments that are declared for this launch script.
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"""
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return [
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# Locations of robot resources
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DeclareLaunchArgument(
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"description_package",
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default_value="panda_description",
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description="Custom package with robot description.",
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),
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DeclareLaunchArgument(
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"description_filepath",
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default_value=path.join("urdf", "panda.urdf.xacro"),
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description="Path to xacro or URDF description of the robot, relative to share of `description_package`.",
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),
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# Robot selection
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DeclareLaunchArgument(
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"robot_type",
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default_value="panda",
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description="Name of the robot to use.",
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),
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# Miscellaneous
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DeclareLaunchArgument(
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"rviz_config",
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default_value=path.join(
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get_package_share_directory("ign_moveit2_examples"),
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"rviz",
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"ign_moveit2_examples.rviz",
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),
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description="Path to configuration for RViz2.",
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),
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="If true, use simulated clock.",
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),
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DeclareLaunchArgument(
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"ign_verbosity",
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default_value="2",
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description="Verbosity level for Ignition Gazebo (0~4).",
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),
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DeclareLaunchArgument(
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"log_level",
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default_value="warn",
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description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
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),
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]
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105
launch/ex_py_follow_target.launch.py
Executable file
105
launch/ex_py_follow_target.launch.py
Executable file
@@ -0,0 +1,105 @@
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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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from os import path
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from typing import List
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from ament_index_python.packages import get_package_share_directory
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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 import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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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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def generate_launch_description() -> LaunchDescription:
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# Declare all launch arguments
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declared_arguments = generate_declared_arguments()
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# Get substitution for all arguments
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robot_type = LaunchConfiguration("robot_type")
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rviz_config = LaunchConfiguration("rviz_config")
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use_sim_time = LaunchConfiguration("use_sim_time")
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ign_verbosity = LaunchConfiguration("ign_verbosity")
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log_level = LaunchConfiguration("log_level")
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# List of included launch descriptions
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launch_descriptions = [
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# Launch world with robot (configured for this example)
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ign_moveit2_examples"),
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"launch",
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"default.launch.py",
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]
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)
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),
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launch_arguments=[
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("world_type", "follow_target"),
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("robot_type", robot_type),
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("rviz_config", rviz_config),
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("use_sim_time", use_sim_time),
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("ign_verbosity", ign_verbosity),
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("log_level", log_level),
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],
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),
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]
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# List of nodes to be launched
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nodes = [
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# Run the example node (Python)
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Node(
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package="ign_moveit2_examples",
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executable="ex_follow_target.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 LaunchDescription(declared_arguments + launch_descriptions + nodes)
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def generate_declared_arguments() -> List[DeclareLaunchArgument]:
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"""
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Generate list of all launch arguments that are declared for this launch script.
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"""
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return [
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# Robot selection
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DeclareLaunchArgument(
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"robot_type",
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default_value="panda",
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description="Name of the robot to use.",
|
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),
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# Miscellaneous
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DeclareLaunchArgument(
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"rviz_config",
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default_value=path.join(
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get_package_share_directory("ign_moveit2_examples"),
|
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"rviz",
|
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"ign_moveit2_examples.rviz",
|
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),
|
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description="Path to configuration for RViz2.",
|
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),
|
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DeclareLaunchArgument(
|
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"use_sim_time",
|
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default_value="true",
|
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description="If true, use simulated clock.",
|
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),
|
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DeclareLaunchArgument(
|
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"ign_verbosity",
|
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default_value="2",
|
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description="Verbosity level for Ignition Gazebo (0~4).",
|
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),
|
||||
DeclareLaunchArgument(
|
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"log_level",
|
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default_value="warn",
|
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description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
|
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),
|
||||
]
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105
launch/ex_py_throw_object.launch.py
Executable file
105
launch/ex_py_throw_object.launch.py
Executable file
@@ -0,0 +1,105 @@
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#!/usr/bin/env -S ros2 launch
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"""Launch Python example for throwing an object"""
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|
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from os import path
|
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from typing import List
|
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|
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from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
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from launch import LaunchDescription
|
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
|
||||
|
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def generate_launch_description() -> LaunchDescription:
|
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|
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# Declare all launch arguments
|
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declared_arguments = generate_declared_arguments()
|
||||
|
||||
# Get substitution for all arguments
|
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robot_type = LaunchConfiguration("robot_type")
|
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rviz_config = LaunchConfiguration("rviz_config")
|
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use_sim_time = LaunchConfiguration("use_sim_time")
|
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ign_verbosity = LaunchConfiguration("ign_verbosity")
|
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log_level = LaunchConfiguration("log_level")
|
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|
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# List of included launch descriptions
|
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launch_descriptions = [
|
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# Launch world with robot (configured for this example)
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("ign_moveit2_examples"),
|
||||
"launch",
|
||||
"default.launch.py",
|
||||
]
|
||||
)
|
||||
),
|
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launch_arguments=[
|
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("world_type", "throw_object"),
|
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("robot_type", robot_type),
|
||||
("rviz_config", rviz_config),
|
||||
("use_sim_time", use_sim_time),
|
||||
("ign_verbosity", ign_verbosity),
|
||||
("log_level", log_level),
|
||||
],
|
||||
),
|
||||
]
|
||||
|
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# List of nodes to be launched
|
||||
nodes = [
|
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# Run the example node (Python)
|
||||
Node(
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package="ign_moveit2_examples",
|
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executable="ex_throw_object.py",
|
||||
output="log",
|
||||
arguments=["--ros-args", "--log-level", log_level],
|
||||
parameters=[{"use_sim_time": use_sim_time}],
|
||||
),
|
||||
]
|
||||
|
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return LaunchDescription(declared_arguments + launch_descriptions + nodes)
|
||||
|
||||
|
||||
def generate_declared_arguments() -> List[DeclareLaunchArgument]:
|
||||
"""
|
||||
Generate list of all launch arguments that are declared for this launch script.
|
||||
"""
|
||||
|
||||
return [
|
||||
# Robot selection
|
||||
DeclareLaunchArgument(
|
||||
"robot_type",
|
||||
default_value="panda",
|
||||
description="Name of the robot to use.",
|
||||
),
|
||||
# Miscellaneous
|
||||
DeclareLaunchArgument(
|
||||
"rviz_config",
|
||||
default_value=path.join(
|
||||
get_package_share_directory("ign_moveit2_examples"),
|
||||
"rviz",
|
||||
"ign_moveit2_examples.rviz",
|
||||
),
|
||||
description="Path to configuration for RViz2.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="If true, use simulated clock.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"ign_verbosity",
|
||||
default_value="2",
|
||||
description="Verbosity level for Ignition Gazebo (0~4).",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"log_level",
|
||||
default_value="warn",
|
||||
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
|
||||
),
|
||||
]
|
||||
61
launch/robots/robot_panda.launch.py
Executable file
61
launch/robots/robot_panda.launch.py
Executable file
@@ -0,0 +1,61 @@
|
||||
#!/usr/bin/env -S ros2 launch
|
||||
"""Launch script for spawning Franka Emika Panda into Ignition Gazebo world"""
|
||||
|
||||
from typing import List
|
||||
|
||||
from launch_ros.actions import Node
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
|
||||
# Declare all launch arguments
|
||||
declared_arguments = generate_declared_arguments()
|
||||
|
||||
# Get substitution for all arguments
|
||||
model = LaunchConfiguration("model")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
log_level = LaunchConfiguration("log_level")
|
||||
|
||||
# List of nodes to be launched
|
||||
nodes = [
|
||||
# ros_ign_gazebo_create
|
||||
Node(
|
||||
package="ros_ign_gazebo",
|
||||
executable="create",
|
||||
output="log",
|
||||
arguments=["-file", model, "--ros-args", "--log-level", log_level],
|
||||
parameters=[{"use_sim_time": use_sim_time}],
|
||||
),
|
||||
]
|
||||
|
||||
return LaunchDescription(declared_arguments + nodes)
|
||||
|
||||
|
||||
def generate_declared_arguments() -> List[DeclareLaunchArgument]:
|
||||
"""
|
||||
Generate list of all launch arguments that are declared for this launch script.
|
||||
"""
|
||||
|
||||
return [
|
||||
# Model for Ignition Gazebo
|
||||
DeclareLaunchArgument(
|
||||
"model",
|
||||
default_value="panda",
|
||||
description="Name or filepath of model to load.",
|
||||
),
|
||||
# Miscellaneous
|
||||
DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="If true, use simulated clock.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"log_level",
|
||||
default_value="warn",
|
||||
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
|
||||
),
|
||||
]
|
||||
91
launch/worlds/world_default.launch.py
Executable file
91
launch/worlds/world_default.launch.py
Executable file
@@ -0,0 +1,91 @@
|
||||
#!/usr/bin/env -S ros2 launch
|
||||
"""Launch default.sdf and the required ROS<->IGN bridges"""
|
||||
|
||||
from typing import List
|
||||
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
|
||||
# Declare all launch arguments
|
||||
declared_arguments = generate_declared_arguments()
|
||||
|
||||
# Get substitution for all arguments
|
||||
world = LaunchConfiguration("world")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
ign_verbosity = LaunchConfiguration("ign_verbosity")
|
||||
log_level = LaunchConfiguration("log_level")
|
||||
|
||||
# List of included launch descriptions
|
||||
launch_descriptions = [
|
||||
# Launch Ignition Gazebo
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("ros_ign_gazebo"),
|
||||
"launch",
|
||||
"ign_gazebo.launch.py",
|
||||
]
|
||||
)
|
||||
),
|
||||
launch_arguments=[("ign_args", [world, " -r -v ", ign_verbosity])],
|
||||
),
|
||||
]
|
||||
|
||||
# List of nodes to be launched
|
||||
nodes = [
|
||||
# ros_ign_bridge (clock -> ROS 2)
|
||||
Node(
|
||||
package="ros_ign_bridge",
|
||||
executable="parameter_bridge",
|
||||
output="log",
|
||||
arguments=[
|
||||
"/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
|
||||
"--ros-args",
|
||||
"--log-level",
|
||||
log_level,
|
||||
],
|
||||
parameters=[{"use_sim_time": use_sim_time}],
|
||||
),
|
||||
]
|
||||
|
||||
return LaunchDescription(declared_arguments + launch_descriptions + nodes)
|
||||
|
||||
|
||||
def generate_declared_arguments() -> List[DeclareLaunchArgument]:
|
||||
"""
|
||||
Generate list of all launch arguments that are declared for this launch script.
|
||||
"""
|
||||
|
||||
return [
|
||||
# World for Ignition Gazebo
|
||||
DeclareLaunchArgument(
|
||||
"world",
|
||||
default_value="default.sdf",
|
||||
description="Name or filepath of world to load.",
|
||||
),
|
||||
# Miscellaneous
|
||||
DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="If true, use simulated clock.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"ign_verbosity",
|
||||
default_value="2",
|
||||
description="Verbosity level for Ignition Gazebo (0~4).",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"log_level",
|
||||
default_value="warn",
|
||||
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
|
||||
),
|
||||
]
|
||||
113
launch/worlds/world_follow_target.launch.py
Executable file
113
launch/worlds/world_follow_target.launch.py
Executable file
@@ -0,0 +1,113 @@
|
||||
#!/usr/bin/env -S ros2 launch
|
||||
"""Launch worlds/follow_target.sdf and the required ROS<->IGN bridges"""
|
||||
|
||||
from os import path
|
||||
from typing import List
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
|
||||
# Declare all launch arguments
|
||||
declared_arguments = generate_declared_arguments()
|
||||
|
||||
# Get substitution for all arguments
|
||||
world = LaunchConfiguration("world")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
ign_verbosity = LaunchConfiguration("ign_verbosity")
|
||||
log_level = LaunchConfiguration("log_level")
|
||||
|
||||
# List of included launch descriptions
|
||||
launch_descriptions = [
|
||||
# Launch Ignition Gazebo
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("ros_ign_gazebo"),
|
||||
"launch",
|
||||
"ign_gazebo.launch.py",
|
||||
]
|
||||
)
|
||||
),
|
||||
launch_arguments=[("ign_args", [world, " -r -v ", ign_verbosity])],
|
||||
),
|
||||
]
|
||||
|
||||
# List of nodes to be launched
|
||||
nodes = [
|
||||
# ros_ign_bridge (clock -> ROS 2)
|
||||
Node(
|
||||
package="ros_ign_bridge",
|
||||
executable="parameter_bridge",
|
||||
output="log",
|
||||
arguments=[
|
||||
"/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
|
||||
"--ros-args",
|
||||
"--log-level",
|
||||
log_level,
|
||||
],
|
||||
parameters=[{"use_sim_time": use_sim_time}],
|
||||
),
|
||||
# ros_ign_bridge (target pose -> ROS 2)
|
||||
Node(
|
||||
package="ros_ign_bridge",
|
||||
executable="parameter_bridge",
|
||||
output="log",
|
||||
arguments=[
|
||||
"/model/target/pose"
|
||||
+ "@"
|
||||
+ "geometry_msgs/msg/PoseStamped[ignition.msgs.Pose",
|
||||
"--ros-args",
|
||||
"--log-level",
|
||||
log_level,
|
||||
],
|
||||
parameters=[{"use_sim_time": use_sim_time}],
|
||||
remappings=[("/model/target/pose", "/target_pose")],
|
||||
),
|
||||
]
|
||||
|
||||
return LaunchDescription(declared_arguments + launch_descriptions + nodes)
|
||||
|
||||
|
||||
def generate_declared_arguments() -> List[DeclareLaunchArgument]:
|
||||
"""
|
||||
Generate list of all launch arguments that are declared for this launch script.
|
||||
"""
|
||||
|
||||
return [
|
||||
# World for Ignition Gazebo
|
||||
DeclareLaunchArgument(
|
||||
"world",
|
||||
default_value=path.join(
|
||||
get_package_share_directory("ign_moveit2_examples"),
|
||||
"worlds",
|
||||
"follow_target.sdf",
|
||||
),
|
||||
description="Name or filepath of world to load.",
|
||||
),
|
||||
# Miscellaneous
|
||||
DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="If true, use simulated clock.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"ign_verbosity",
|
||||
default_value="2",
|
||||
description="Verbosity level for Ignition Gazebo (0~4).",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"log_level",
|
||||
default_value="warn",
|
||||
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
|
||||
),
|
||||
]
|
||||
97
launch/worlds/world_throw_object.launch.py
Executable file
97
launch/worlds/world_throw_object.launch.py
Executable file
@@ -0,0 +1,97 @@
|
||||
#!/usr/bin/env -S ros2 launch
|
||||
"""Launch worlds/throw_object.sdf and the required ROS<->IGN bridges"""
|
||||
|
||||
from os import path
|
||||
from typing import List
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
|
||||
# Declare all launch arguments
|
||||
declared_arguments = generate_declared_arguments()
|
||||
|
||||
# Get substitution for all arguments
|
||||
world = LaunchConfiguration("world")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
ign_verbosity = LaunchConfiguration("ign_verbosity")
|
||||
log_level = LaunchConfiguration("log_level")
|
||||
|
||||
# List of included launch descriptions
|
||||
launch_descriptions = [
|
||||
# Launch Ignition Gazebo
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("ros_ign_gazebo"),
|
||||
"launch",
|
||||
"ign_gazebo.launch.py",
|
||||
]
|
||||
)
|
||||
),
|
||||
launch_arguments=[("ign_args", [world, " -r -v ", ign_verbosity])],
|
||||
),
|
||||
]
|
||||
|
||||
# List of nodes to be launched
|
||||
nodes = [
|
||||
# ros_ign_bridge (clock -> ROS 2)
|
||||
Node(
|
||||
package="ros_ign_bridge",
|
||||
executable="parameter_bridge",
|
||||
output="log",
|
||||
arguments=[
|
||||
"/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
|
||||
"--ros-args",
|
||||
"--log-level",
|
||||
log_level,
|
||||
],
|
||||
parameters=[{"use_sim_time": use_sim_time}],
|
||||
),
|
||||
]
|
||||
|
||||
return LaunchDescription(declared_arguments + launch_descriptions + nodes)
|
||||
|
||||
|
||||
def generate_declared_arguments() -> List[DeclareLaunchArgument]:
|
||||
"""
|
||||
Generate list of all launch arguments that are declared for this launch script.
|
||||
"""
|
||||
|
||||
return [
|
||||
# World for Ignition Gazebo
|
||||
DeclareLaunchArgument(
|
||||
"world",
|
||||
default_value=path.join(
|
||||
get_package_share_directory("ign_moveit2_examples"),
|
||||
"worlds",
|
||||
"throw_object.sdf",
|
||||
),
|
||||
description="Name or filepath of world to load.",
|
||||
),
|
||||
# Miscellaneous
|
||||
DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="If true, use simulated clock.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"ign_verbosity",
|
||||
default_value="2",
|
||||
description="Verbosity level for Ignition Gazebo (0~4).",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"log_level",
|
||||
default_value="warn",
|
||||
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
|
||||
),
|
||||
]
|
||||
Reference in New Issue
Block a user