138 lines
4.5 KiB
Python
138 lines
4.5 KiB
Python
# Copyright 2022 Factor Robotics
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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.substitutions import Command, FindExecutable, 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 os
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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robot_description_content = 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("odrive_demo_description"),
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"urdf",
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"odrive_diffbot.urdf.xacro"
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]
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),
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare("odrive_demo_bringup"),
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"config",
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"diffbot_controllers.yaml",
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]
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)
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rviz_config_file = PathJoinSubstitution(
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[
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FindPackageShare("bot_mini_bringup"),
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"config",
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"bot_mini.rviz"
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]
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)
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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, robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diffbot_base_controller", "-c", "/controller_manager"],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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arguments=["-d", rviz_config_file],
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)
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package_name='bot_mini_bringup'
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gazebo_params_file = os.path.join(get_package_share_directory(package_name),'config','gazebo_params.yaml')
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# Include the Gazebo launch file, provided by the gazebo_ros package
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
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launch_arguments={'extra_gazebo_args': '--ros-args --params-file ' + gazebo_params_file}.items()
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)
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# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
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spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
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arguments=['-topic', 'robot_description',
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'-entity', 'my_bot'],
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output='screen')
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diff_drive_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diff_cont"],
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)
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joint_broad_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_broad"],
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)
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twist_mux_params = os.path.join(get_package_share_directory(package_name),'config','twist_mux.yaml')
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twist_mux = Node(
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package="twist_mux",
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executable="twist_mux",
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parameters=[twist_mux_params, {'use_sim_time': True}],
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remappings=[('/cmd_vel_out','/diff_cont/cmd_vel_unstamped')]
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)
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return LaunchDescription([
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#control_node,
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robot_state_pub_node,
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joint_state_broadcaster_spawner,
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#robot_controller_spawner,
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rviz_node,
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gazebo,
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spawn_entity,
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diff_drive_spawner,
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#joint_broad_spawner,
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twist_mux
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]) |