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Add custom xarm packages

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This commit is contained in:
Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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src/custom_xarm_moveit_config/launch/lite6_moveit_gazebo.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
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)
add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', 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"')
# robot moveit gazebo launch
# xarm_moveit_config/launch/_robot_moveit_gazebo.launch.py
robot_moveit_gazebo_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_gazebo.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': '6',
'robot_type': 'lite',
'no_gui_ctrl': 'false',
'add_realsense_d435i': add_realsense_d435i,
'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(),
)
return LaunchDescription([
robot_moveit_gazebo_launch
])