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Implement lite6_controller

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This commit is contained in:
Nicolas Hiillos
2022-12-20 21:46:14 +02:00
parent a0216aa6bd
commit d63ab0b51a
10 changed files with 951 additions and 142 deletions
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248
src/lite6_controller/launch/lite6_gazebo.launch.py Normal file
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#!/usr/bin/env -S ros2 launch
"""Launch Python example for following a target"""
import os
from ament_index_python import get_package_share_directory
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, Command, FindExecutable
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.event_handlers import OnProcessExit
from launch.actions import OpaqueFunction
def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration("use_sim_time", default=True)
log_level = LaunchConfiguration("log_level", default='warn')
rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
dof = LaunchConfiguration('dof', default=6)
robot_type = LaunchConfiguration('robot_type', default='lite')
ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
#geometry_type = LaunchConfiguration('geometry_type', default='box')
geometry_type = LaunchConfiguration('geometry_type', default='cylinder')
geometry_mass = LaunchConfiguration('geometry_mass', default=0.05)
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
geometry_radius = LaunchConfiguration('geometry_radius', default=0.005)
geometry_length = LaunchConfiguration('geometry_length', default=0.07)
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
load_controller = LaunchConfiguration('load_controller', default=True)
ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
ros2_control_plugin = 'gazebo_ros2_control/GazeboSystem'
controllers_name = 'fake_controllers'
moveit_controller_manager_key = 'moveit_simple_controller_manager'
moveit_controller_manager_value = 'moveit_simple_controller_manager/MoveItSimpleControllerManager'
# robot moveit common launch
# xarm_moveit_config/launch/_robot_moveit_common.launch.py
robot_moveit_common_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
# 'add_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
'add_vacuum_gripper': add_vacuum_gripper,
'dof': dof,
'robot_type': robot_type,
'no_gui_ctrl': 'false',
'ros2_control_plugin': ros2_control_plugin,
'controllers_name': controllers_name,
'moveit_controller_manager_key': moveit_controller_manager_key,
'moveit_controller_manager_value': moveit_controller_manager_value,
'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,
'use_sim_time': 'true'
}.items(),
)
# robot gazebo launch
# xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
robot_gazebo_launch = IncludeLaunchDescription(
#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.launch.py'])),
launch_arguments={
'prefix': 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,
'load_controller': 'true',
}.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="lite6_controller",
executable="lite6_controller",
output="log",
arguments=["--ros-args", "--log-level", log_level],
parameters=[
robot_description,
robot_description_semantic,
{"use_sim_time": use_sim_time},
],
),
Node(
package="draw_svg",
executable="drawing_surface.py",
output="log",
arguments=["--ros-args", "--log-level", log_level],
parameters=[{"use_sim_time": use_sim_time}],
),
]
return [
robot_moveit_common_launch,
robot_gazebo_launch,
] + nodes
def generate_launch_description():
return LaunchDescription([
OpaqueFunction(function=launch_setup)
])

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src/lite6_controller/launch/lite6_real.launch.py Normal file
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import os
from launch import LaunchDescription
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
from launch.launch_description_sources import load_python_launch_file_as_module
from launch import LaunchDescription
from launch.actions import RegisterEventHandler, EmitEvent
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
def launch_setup(context, *args, **kwargs):
robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
report_type = LaunchConfiguration('report_type', default='normal')
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='ufactory')
limited = LaunchConfiguration('limited', default=True)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
dof = LaunchConfiguration('dof', default=6)
robot_type = LaunchConfiguration('robot_type', default='lite')
no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
geometry_type = LaunchConfiguration('geometry_type', default='box')
geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
geometry_length = LaunchConfiguration('geometry_length', default=0.1)
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
baud_checkset = LaunchConfiguration('baud_checkset', default=True)
default_gripper_baud = LaunchConfiguration('default_gripper_baud', default=2000000)
ros2_control_plugin = 'uf_robot_hardware/UFRobotSystemHardware'
controllers_name = LaunchConfiguration('controllers_name', default='controllers')
moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_simple_controller_manager')
moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_simple_controller_manager/MoveItSimpleControllerManager')
xarm_type = '{}{}'.format(robot_type.perform(context), dof.perform(context))
ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
use_sim_time = LaunchConfiguration('use_sim_time', default=False)
log_level = LaunchConfiguration("log_level", default='warn')
# # robot driver launch
# # xarm_api/launch/_robot_driver.launch.py
# robot_driver_launch = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_api'), 'launch', '_robot_driver.launch.py'])),
# launch_arguments={
# 'robot_ip': robot_ip,
# 'report_type': report_type,
# 'dof': dof,
# 'hw_ns': hw_ns,
# 'add_gripper': add_gripper,
# 'prefix': prefix,
# 'baud_checkset': baud_checkset,
# 'default_gripper_baud': default_gripper_baud,
# 'robot_type': robot_type,
# }.items(),
# )
# robot description launch
# xarm_description/launch/_robot_description.launch.py
robot_description_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])),
launch_arguments={
'prefix': 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,
'joint_states_remapping': PathJoinSubstitution(['/', ros_namespace, hw_ns, 'joint_states']),
'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,
}.items(),
)
# robot_description_parameters
# xarm_moveit_config/launch/lib/robot_moveit_config_lib.py
moveit_config_package_name = 'xarm_moveit_config'
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py'))
get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
robot_description_parameters = get_xarm_robot_description_parameters(
xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
urdf_arguments={
'prefix': prefix,
'hw_ns': hw_ns.perform(context).strip('/'),
'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,
'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,
},
srdf_arguments={
'prefix': prefix,
'dof': dof,
'robot_type': robot_type,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'add_other_geometry': add_other_geometry,
},
arguments={
'context': context,
'xarm_type': xarm_type,
}
)
load_yaml = getattr(mod, 'load_yaml')
controllers_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, '{}.yaml'.format(controllers_name.perform(context)))
ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
if add_gripper.perform(context) in ('True', 'true'):
gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
gripper_joint_limits_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'joint_limits.yaml')
if gripper_controllers_yaml and 'controller_names' in gripper_controllers_yaml:
for name in gripper_controllers_yaml['controller_names']:
if name in gripper_controllers_yaml:
if name not in controllers_yaml['controller_names']:
controllers_yaml['controller_names'].append(name)
controllers_yaml[name] = gripper_controllers_yaml[name]
if gripper_ompl_planning_yaml:
ompl_planning_yaml.update(gripper_ompl_planning_yaml)
if joint_limits_yaml and gripper_joint_limits_yaml:
joint_limits_yaml['joint_limits'].update(gripper_joint_limits_yaml['joint_limits'])
add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
add_prefix_to_moveit_params(
controllers_yaml=controllers_yaml, ompl_planning_yaml=ompl_planning_yaml,
kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
prefix=prefix.perform(context))
# Planning Configuration
ompl_planning_pipeline_config = {
'move_group': {
'planning_plugin': 'ompl_interface/OMPLPlanner',
'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
'start_state_max_bounds_error': 0.1,
}
}
ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
# Moveit controllers Configuration
moveit_controllers = {
moveit_controller_manager_key.perform(context): controllers_yaml,
'moveit_controller_manager': moveit_controller_manager_value.perform(context),
}
# Trajectory Execution Configuration
trajectory_execution = {
'moveit_manage_controllers': True,
'trajectory_execution.allowed_execution_duration_scaling': 1.2,
'trajectory_execution.allowed_goal_duration_margin': 0.5,
'trajectory_execution.allowed_start_tolerance': 0.01,
'trajectory_execution.execution_duration_monitoring': False
}
plan_execution = {
'plan_execution.record_trajectory_state_frequency': 10.0,
}
planning_scene_monitor_parameters = {
'publish_planning_scene': True,
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
# "planning_scene_monitor_options": {
# "name": "planning_scene_monitor",
# "robot_description": "robot_description",
# "joint_state_topic": "/joint_states",
# "attached_collision_object_topic": "/move_group/planning_scene_monitor",
# "publish_planning_scene_topic": "/move_group/publish_planning_scene",
# "monitored_planning_scene_topic": "/move_group/monitored_planning_scene",
# "wait_for_initial_state_timeout": 10.0,
# },
}
# Start the actual move_group node/action server
move_group_node = Node(
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[
robot_description_parameters,
ompl_planning_pipeline_config,
trajectory_execution,
plan_execution,
moveit_controllers,
planning_scene_monitor_parameters,
{'use_sim_time': use_sim_time},
],
)
# rviz with moveit configuration
# rviz_config_file = PathJoinSubstitution([FindPackageShare(moveit_config_package_name), 'config', xarm_type, 'planner.rviz' if no_gui_ctrl.perform(context) == 'true' else 'moveit.rviz'])
rviz_config_file = PathJoinSubstitution([FindPackageShare(moveit_config_package_name), 'rviz', 'planner.rviz' if no_gui_ctrl.perform(context) == 'true' else 'moveit.rviz'])
rviz2_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', rviz_config_file],
parameters=[
robot_description_parameters,
ompl_planning_pipeline_config,
{'use_sim_time': use_sim_time},
],
remappings=[
('/tf', 'tf'),
('/tf_static', 'tf_static'),
]
)
# Static TF
static_tf = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='static_transform_publisher',
output='screen',
arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world', 'link_base'],
)
# joint state publisher node
joint_state_publisher_node = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen',
parameters=[{'source_list': ['{}/joint_states'.format(hw_ns.perform(context))]}],
remappings=[
('follow_joint_trajectory', '{}{}_traj_controller/follow_joint_trajectory'.format(prefix.perform(context), xarm_type)),
],
)
# ros2 control launch
# xarm_controller/launch/_ros2_control.launch.py
ros2_control_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_controller'), 'launch', '_ros2_control.launch.py'])),
launch_arguments={
'robot_ip': robot_ip,
'report_type': report_type,
'baud_checkset': baud_checkset,
'default_gripper_baud': default_gripper_baud,
'prefix': 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,
}.items(),
)
control_node = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=[
'{}{}_traj_controller'.format(prefix.perform(context), xarm_type),
'--controller-manager', '{}/controller_manager'.format(ros_namespace)
],
)
nodes = [
Node(
package="draw_svg",
executable="follow",
output="log",
arguments=["--ros-args", "--log-level", log_level],
parameters=[
#robot_description_parameters['robot_description'],
#robot_description_parameters['robot_description_semantic'],
#robot_description_parameters['robot_description_planning'],
#robot_description_parameters['robot_description_kinematics'],
robot_description_parameters,
{"use_sim_time": use_sim_time},
],
),
Node(
package="draw_svg",
executable="draw_svg.py",
output="log",
arguments=["--ros-args", "--log-level", log_level],
parameters=[{"use_sim_time": use_sim_time}],
),
]
return [
RegisterEventHandler(event_handler=OnProcessExit(
target_action=rviz2_node,
on_exit=[EmitEvent(event=Shutdown())]
)),
rviz2_node,
static_tf,
move_group_node,
robot_description_launch,
joint_state_publisher_node,
ros2_control_launch,
control_node,
# robot_driver_launch,
] + nodes
def generate_launch_description():
return LaunchDescription([
OpaqueFunction(function=launch_setup)
])