#!/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="draw_svg", executable="follow", 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="draw_svg.py", output="log", arguments=["--ros-args", "--log-level", log_level], parameters=[{"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) ])