93 lines
3.4 KiB
Python
93 lines
3.4 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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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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robot_ip_parameter_name = 'robot_ip'
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use_fake_hardware_parameter_name = 'use_fake_hardware'
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arm_parameter_name = 'arm_id'
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joint_names_parameter_name = 'joint_names'
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robot_ip = LaunchConfiguration(robot_ip_parameter_name)
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use_fake_hardware = LaunchConfiguration(use_fake_hardware_parameter_name)
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arm_id = LaunchConfiguration(arm_parameter_name)
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joint_names = LaunchConfiguration(joint_names_parameter_name)
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gripper_config = os.path.join(
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get_package_share_directory('franka_gripper'), 'config', 'franka_gripper_node.yaml'
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)
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default_joint_name_postfix = '_finger_joint'
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arm_default_argument = [
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'[',
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arm_id,
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default_joint_name_postfix,
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'1',
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',',
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arm_id,
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default_joint_name_postfix,
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'2',
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']',
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]
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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robot_ip_parameter_name, description='Hostname or IP address of the robot.'
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),
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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=(
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'Publish fake gripper joint states without connecting to a real gripper'
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),
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),
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DeclareLaunchArgument(
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arm_parameter_name,
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default_value='panda',
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description=(
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'Name of the arm in the URDF file. This is used to generate the joint '
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'names of the gripper.'
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),
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),
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DeclareLaunchArgument(
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joint_names_parameter_name,
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default_value=arm_default_argument,
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description='Names of the gripper joints in the URDF',
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),
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Node(
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package='franka_gripper',
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executable='franka_gripper_node',
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name=[arm_id, '_gripper'],
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parameters=[{'robot_ip': robot_ip, 'joint_names': joint_names}, gripper_config],
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condition=UnlessCondition(use_fake_hardware),
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),
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Node(
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package='franka_gripper',
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executable='fake_gripper_state_publisher.py',
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name=[arm_id, '_gripper'],
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parameters=[{'robot_ip': robot_ip, 'joint_names': joint_names}, gripper_config],
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condition=IfCondition(use_fake_hardware),
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),
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]
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)
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