144 lines
5.1 KiB
Python
Executable File
144 lines
5.1 KiB
Python
Executable File
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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, ExecuteProcess, IncludeLaunchDescription,
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Shutdown)
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from launch.conditions import UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, 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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import yaml
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def load_yaml(package_name, file_path):
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package_path = get_package_share_directory(package_name)
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absolute_file_path = os.path.join(package_path, file_path)
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try:
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with open(absolute_file_path, 'r') as file:
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return yaml.safe_load(file)
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except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
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return None
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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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fake_sensor_commands_parameter_name = 'fake_sensor_commands'
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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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fake_sensor_commands = LaunchConfiguration(fake_sensor_commands_parameter_name)
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# planning_context
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franka_xacro_file = os.path.join(get_package_share_directory('franka_description'), 'robots',
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'panda_arm.urdf.xacro')
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robot_description_config = Command(
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[FindExecutable(name='xacro'), ' ', franka_xacro_file, ' hand:=true',
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' robot_ip:=', robot_ip, ' use_fake_hardware:=', use_fake_hardware,
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' fake_sensor_commands:=', fake_sensor_commands])
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robot_description = {'robot_description': robot_description_config}
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franka_semantic_xacro_file = os.path.join(get_package_share_directory('franka_moveit_config'),
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'srdf',
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'panda_arm.srdf.xacro')
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# Publish TF
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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output='both',
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parameters=[robot_description],
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)
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ros2_controllers_path = os.path.join(
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get_package_share_directory('franka_moveit_config'),
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'config',
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'panda_ros_controllers.yaml',
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)
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ros2_control_node = Node(
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package='controller_manager',
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executable='ros2_control_node',
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parameters=[robot_description, ros2_controllers_path],
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remappings=[('joint_states', 'franka/joint_states')],
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output={
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'stdout': 'screen',
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'stderr': 'screen',
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},
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on_exit=Shutdown(),
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)
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load_controllers = []
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for controller in ['joint_state_broadcaster']:
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load_controllers += [
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ExecuteProcess(
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cmd=['ros2 run controller_manager spawner {}'.format(controller)],
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shell=True,
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output='screen',
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)
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]
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joint_state_publisher = Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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parameters=[
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{'source_list': ['franka/joint_states', 'panda_gripper/joint_states'], 'rate': 30}],
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)
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franka_robot_state_broadcaster = Node(
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package='controller_manager',
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executable='spawner',
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arguments=['franka_robot_state_broadcaster'],
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output='screen',
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condition=UnlessCondition(use_fake_hardware),
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)
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franka_pose_recorder =Node(
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package='franka_moveit_interface',
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executable='franka_pose_recorder',
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name='franka_pose_recorder',
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output='screen',
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parameters=[robot_description]
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)
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robot_arg = DeclareLaunchArgument(
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robot_ip_parameter_name,
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default_value='192.168.1.211',
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description='Hostname or IP address of the robot.')
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use_fake_hardware_arg = 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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fake_sensor_commands_arg = 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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gripper_launch_file = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([PathJoinSubstitution(
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[FindPackageShare('franka_gripper'), 'launch', 'gripper.launch.py'])]),
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launch_arguments={'robot_ip': robot_ip,
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use_fake_hardware_parameter_name: use_fake_hardware}.items(),
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)
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return LaunchDescription(
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[
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robot_arg,
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use_fake_hardware_arg,
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fake_sensor_commands_arg,
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robot_state_publisher,
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joint_state_publisher,
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franka_pose_recorder,
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ros2_control_node,
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franka_robot_state_broadcaster
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] + load_controllers
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) |