78 lines
3.3 KiB
Python
78 lines
3.3 KiB
Python
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# Copyright (c) 2021 Franka Emika GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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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.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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robot_ip_parameter_name = 'robot_ip'
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load_gripper_parameter_name = 'load_gripper'
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use_fake_hardware_parameter_name = 'use_fake_hardware'
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fake_sensor_commands_parameter_name = 'fake_sensor_commands'
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use_rviz_parameter_name = 'use_rviz'
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robot_ip = LaunchConfiguration(robot_ip_parameter_name)
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load_gripper = LaunchConfiguration(load_gripper_parameter_name)
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use_fake_hardware = LaunchConfiguration(use_fake_hardware_parameter_name)
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fake_sensor_commands = LaunchConfiguration(fake_sensor_commands_parameter_name)
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use_rviz = LaunchConfiguration(use_rviz_parameter_name)
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return LaunchDescription([
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DeclareLaunchArgument(
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robot_ip_parameter_name,
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description='Hostname or IP address of the robot.'),
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DeclareLaunchArgument(
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use_rviz_parameter_name,
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default_value='false',
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description='Visualize the robot in Rviz'),
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DeclareLaunchArgument(
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use_fake_hardware_parameter_name,
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default_value='false',
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description='Use fake hardware'),
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DeclareLaunchArgument(
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fake_sensor_commands_parameter_name,
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default_value='false',
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description="Fake sensor commands. Only valid when '{}' is true".format(
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use_fake_hardware_parameter_name)),
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DeclareLaunchArgument(
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load_gripper_parameter_name,
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default_value='true',
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description='Use Franka Gripper as an end-effector, otherwise, the robot is loaded '
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'without an end-effector.'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([PathJoinSubstitution(
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[FindPackageShare('franka_bringup'), 'launch', 'franka.launch.py'])]),
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launch_arguments={robot_ip_parameter_name: robot_ip,
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load_gripper_parameter_name: load_gripper,
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use_fake_hardware_parameter_name: use_fake_hardware,
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fake_sensor_commands_parameter_name: fake_sensor_commands,
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use_rviz_parameter_name: use_rviz
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}.items(),
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),
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Node(
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package='controller_manager',
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executable='spawner',
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arguments=['joint_impedance_example_controller'],
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output='screen',
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),
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])
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