490 lines
23 KiB
Python
490 lines
23 KiB
Python
#!/usr/bin/env -S ros2 launch
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"""Launch Python example for following a target"""
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import os
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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 IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command, FindExecutable
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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.event_handlers import OnProcessExit
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from launch.actions import OpaqueFunction
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def launch_setup(context, *args, **kwargs):
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use_sim_time = LaunchConfiguration("use_sim_time", default=True)
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log_level = LaunchConfiguration("log_level", default='info')
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rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
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prefix = LaunchConfiguration('prefix', default='')
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hw_ns = LaunchConfiguration('hw_ns', default='xarm')
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limited = LaunchConfiguration('limited', default=False)
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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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dof = LaunchConfiguration('dof', default=6)
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robot_type = LaunchConfiguration('robot_type', default='lite')
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ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
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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_type = LaunchConfiguration('geometry_type', default='cylinder')
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geometry_mass = LaunchConfiguration('geometry_mass', default=0.05)
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geometry_height = LaunchConfiguration('geometry_height', default=0.1)
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geometry_radius = LaunchConfiguration('geometry_radius', default=0.005)
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geometry_length = LaunchConfiguration('geometry_length', default=0.07)
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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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load_controller = LaunchConfiguration('load_controller', default=True)
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ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
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no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)
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ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
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controllers_name = LaunchConfiguration('controllers_name', default='fake_controllers')
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moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_simple_controller_manager')
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moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_simple_controller_manager/MoveItSimpleControllerManager')
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# robot moveit common launch
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# xarm_moveit_config/launch/_robot_moveit_common.launch.py
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robot_moveit_common_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.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_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
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'add_vacuum_gripper': add_vacuum_gripper,
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'dof': dof,
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'robot_type': robot_type,
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'no_gui_ctrl': 'false',
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'ros2_control_plugin': ros2_control_plugin,
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'controllers_name': controllers_name,
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'moveit_controller_manager_key': moveit_controller_manager_key,
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'moveit_controller_manager_value': moveit_controller_manager_value,
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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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'use_sim_time': 'true'
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}.items(),
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)
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# robot gazebo launch
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# xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
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robot_gazebo_launch = IncludeLaunchDescription(
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#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
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PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.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': dof,
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'robot_type': robot_type,
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'ros2_control_plugin': ros2_control_plugin,
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'load_controller': 'true',
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}.items(),
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)
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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('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']
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),
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#PathJoinSubstitution(
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# [
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# FindPackageShare('xarm_description'),
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# "urdf",
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# "lite6",
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# #"lite6.urdf.xacro",
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# "lite6_robot_macro.xacro",
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# ]
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#),
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" ",
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#"name:=", "lite6", " ",
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"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:=", dof, " ",
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"robot_type:=", robot_type, " ",
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"ros2_control_plugin:=", ros2_control_plugin, " ",
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#"ros2_control_params:=", ros2_control_params, " ",
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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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#"robot_ip:=", robot_ip, " ",
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#"report_type:=", report_type, " ",
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#"baud_checkset:=", baud_checkset, " ",
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#"default_gripper_baud:=", default_gripper_baud, " ",
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]
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)
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# TODO fix URDF loading
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# 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"
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_robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])])
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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('xarm_moveit_config'),
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"srdf",
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#"_lite6_macro.srdf.xacro",
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"xarm.srdf.xacro",
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]
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),
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" ",
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#"name:=", "lite6", " ",
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"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:=", dof, " ",
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"robot_type:=", robot_type, " ",
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#"ros2_control_plugin:=", ros2_control_plugin, " ",
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#"ros2_control_params:=", ros2_control_params, " ",
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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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#"robot_ip:=", robot_ip, " ",
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#"report_type:=", report_type, " ",
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#"baud_checkset:=", baud_checkset, " ",
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#"default_gripper_baud:=", default_gripper_baud, " ",
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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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nodes = [
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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,
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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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Node(
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package="draw_svg",
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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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]
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# ######################3
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#moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_fake_controller_manager')
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#moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_fake_controller_manager/MoveItFakeControllerManager')
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add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
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moveit_config_package_name = 'xarm_moveit_config'
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xarm_type = '{}{}'.format(robot_type.perform(context), dof.perform(context))
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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('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
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xacro_srdf_file=PathJoinSubstitution([FindPackageShare('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': dof,
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'robot_type': robot_type,
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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': dof,
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'robot_type': robot_type,
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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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load_yaml = getattr(mod, 'load_yaml')
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controllers_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, '{}.yaml'.format(controllers_name.perform(context)))
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ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
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kinematics_yaml = robot_description_parameters['robot_description_kinematics']
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joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
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# FIX acceleration limits
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for i in range(1,7):
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joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
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joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5
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#print(joint_limits_yaml)
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#quit()
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#if add_gripper.perform(context) in ('True', 'true'):
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# gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
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# gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
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# gripper_joint_limits_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'joint_limits.yaml')
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# if gripper_controllers_yaml and 'controller_names' in gripper_controllers_yaml:
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# for name in gripper_controllers_yaml['controller_names']:
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# if name in gripper_controllers_yaml:
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# if name not in controllers_yaml['controller_names']:
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# controllers_yaml['controller_names'].append(name)
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# controllers_yaml[name] = gripper_controllers_yaml[name]
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# if gripper_ompl_planning_yaml:
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# ompl_planning_yaml.update(gripper_ompl_planning_yaml)
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# if joint_limits_yaml and gripper_joint_limits_yaml:
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# joint_limits_yaml['joint_limits'].update(gripper_joint_limits_yaml['joint_limits'])
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add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
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add_prefix_to_moveit_params(
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controllers_yaml=controllers_yaml, ompl_planning_yaml=ompl_planning_yaml,
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kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
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prefix=prefix.perform(context))
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# Planning pipeline
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# https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py
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#planning_pipeline = {
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# "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
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# "default_planning_pipeline": "pilz_industrial_motion_planner",
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# "ompl": {
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# "planning_plugin": "ompl_interface/OMPLPlanner",
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# # TODO: Re-enable `default_planner_request_adapters/AddRuckigTrajectorySmoothing` once its issues are resolved
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# "request_adapters": "default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints",
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# # TODO: Reduce start_state_max_bounds_error once spawning with specific joint configuration is enabled
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# "start_state_max_bounds_error": 0.31416,
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# },
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# "pilz_industrial_motion_planner": {
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# "planning_plugin": "pilz_industrial_motion_planner::CommandPlanner",
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# "default_planner_config": "PTP",
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# "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
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# },
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#}
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# Kinematics
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#kinematics = load_yaml('panda_moveit2_config', 'config/kinematics.yaml')
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# Planning Configuration
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ompl_planning_pipeline_config = {
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'move_group': {
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'planning_plugin': 'ompl_interface/OMPLPlanner',
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'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""",
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'start_state_max_bounds_error': 0.1,
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}
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}
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ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
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pilz_planning_pipeline_config = {
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'move_group': {
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'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
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'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""",
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"default_planner_config": "PTP",
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}
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}
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|
|
move_group_capabilities = {
|
|
"capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
|
|
}
|
|
|
|
|
|
|
|
# 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,
|
|
pilz_planning_pipeline_config,
|
|
move_group_capabilities,
|
|
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,
|
|
pilz_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'],
|
|
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_gazebo_launch,
|
|
] + nodes
|
|
|
|
# ######################3
|
|
|
|
#return [
|
|
# robot_moveit_common_launch,
|
|
# robot_gazebo_launch,
|
|
#] + nodes
|
|
|
|
|
|
def generate_launch_description():
|
|
return LaunchDescription([
|
|
OpaqueFunction(function=launch_setup)
|
|
])
|