68 lines
2.1 KiB
Python
68 lines
2.1 KiB
Python
from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterFile
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution
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def launch_setup(context, *args, **kwargs):
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# Initialize Arguments
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robot_ip = LaunchConfiguration("robot_ip")
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tool_device_name = LaunchConfiguration("tool_device_name")
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tool_tcp_port = LaunchConfiguration("tool_tcp_port")
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tool_communication_node = Node(
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package="ur_robot_driver",
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executable="tool_communication.py",
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name="ur_tool_comm",
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output="screen",
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parameters=[
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{
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"robot_ip": robot_ip,
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"tcp_port": tool_tcp_port,
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"device_name": tool_device_name,
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}
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],
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)
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nodes_to_start = [tool_communication_node]
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return nodes_to_start
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def generate_launch_description():
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# Declare Arguments
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declared_arguments = []
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# UR specific arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_ip", description="IP address by which the robot can be reached."
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"tool_device_name",
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default_value="/tmp/ttyUR",
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description="File descriptor that will be generated for the tool communication device. \
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The user has be be allowed to write to this location. \
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Only effective, if use_tool_communication is set to True.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"tool_tcp_port",
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default_value="50006",
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description="Remote port that will be used for bridging the tool's serial device. \
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Only effective, if use_tool_communication is set to True.",
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)
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)
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return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
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