154 lines
6.8 KiB
Python
154 lines
6.8 KiB
Python
import os
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from launch import LaunchDescription
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from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
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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.substitutions import FindPackageShare
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from launch_ros.actions import Node
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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 RegisterEventHandler, EmitEvent
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from launch.event_handlers import OnProcessExit
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from launch.events import Shutdown
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def launch_setup(context, *args, **kwargs):
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prefix = LaunchConfiguration('prefix', default='')
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hw_ns = LaunchConfiguration('hw_ns', default='ufactory')
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limited = LaunchConfiguration('limited', default=True)
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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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add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
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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_mass = LaunchConfiguration('geometry_mass', default=0.1)
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geometry_height = LaunchConfiguration('geometry_height', default=0.1)
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geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
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geometry_length = LaunchConfiguration('geometry_length', default=0.1)
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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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# robot moveit fake launch
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# xarm_moveit_config/launch/_robot_moveit_fake.launch.py
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robot_moveit_gazebo_fake_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'launch', '_robot_moveit_gazebo_fake.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': '6',
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'robot_type': 'lite',
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'no_gui_ctrl': 'false',
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'add_realsense_d435i': add_realsense_d435i,
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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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}.items(),
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)
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moveit_config_package_name = 'custom_xarm_moveit_config'
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xarm_type = 'lite6'
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ros2_control_plugin = 'uf_robot_hardware/UFRobotFakeSystemHardware'
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# robot_description_parameters
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# xarm_moveit_config/launch/lib/robot_moveit_config_lib.py
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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'))
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get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
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robot_description_parameters = get_xarm_robot_description_parameters(
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xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
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xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
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urdf_arguments={
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'prefix': prefix,
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'hw_ns': hw_ns.perform(context).strip('/'),
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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': '6',
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'robot_type': 'lite',
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'ros2_control_plugin': ros2_control_plugin,
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'add_realsense_d435i': add_realsense_d435i,
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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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},
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srdf_arguments={
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'prefix': prefix,
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'dof': '6',
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'robot_type': 'lite',
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'add_gripper': add_gripper,
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'add_vacuum_gripper': add_vacuum_gripper,
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'add_other_geometry': add_other_geometry,
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},
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arguments={
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'context': context,
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'xarm_type': xarm_type,
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}
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)
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lite6_controller = Node(
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package="lite6_controller",
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executable="lite6_controller",
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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_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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virtual_drawing_surface = Node(
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package="virtual_drawing_surface",
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executable="drawing_surface.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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return [
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robot_moveit_gazebo_fake_launch,
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virtual_drawing_surface,
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lite6_controller,
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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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