Refactor openarm_description into separate package

openarm_bimanual_description/launch/display_xacro.launch.py

@@ -1,54 +0,0 @@
-import os
-import launch
-import launch_ros
-import xacro
-
-from launch.substitutions import LaunchConfiguration
-from ament_index_python import get_package_share_directory
-
-
-def get_package_file(package, file_path):
-    """Get the location of a file installed in an ament package"""
-    package_path = get_package_share_directory(package)
-    absolute_file_path = os.path.join(package_path, file_path)
-    return absolute_file_path
-
-
-def generate_launch_description():
-    xacro_file = get_package_file(
-        "openarm_bimanual_description", "urdf/openarm_bimanual.urdf.xacro"
-    )
-    urdf = xacro.process_file(xacro_file).toprettyxml(indent="  ")
-    default_rviz_config_path = get_package_file(
-        "openarm_bimanual_description", "rviz/robot_description.rviz"
-    )
-
-    return launch.LaunchDescription(
-        [
-            launch_ros.actions.Node(
-                name="robot_state_publisher",
-                package="robot_state_publisher",
-                executable="robot_state_publisher",
-                output="screen",
-                parameters=[{"robot_description": urdf}],
-            ),
-            launch_ros.actions.Node(
-                name="joint_state_publisher_gui",
-                package="joint_state_publisher_gui",
-                executable="joint_state_publisher_gui",
-                output="screen",
-            ),
-            launch.actions.DeclareLaunchArgument(
-                name="rvizconfig",
-                default_value=str(default_rviz_config_path),
-                description="Absolute path to rviz config file",
-            ),
-            launch_ros.actions.Node(
-                name="rviz",
-                package="rviz2",
-                executable="rviz2",
-                output="screen",
-                arguments=["-d", LaunchConfiguration("rvizconfig")],
-            ),
-        ]
-    )

openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro

@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
   <link name="world"/>
 
-  <xacro:include filename="openarm.xacro"/>
+  <xacro:include filename="$(find openarm_description)/urdf/openarm.urdf.xacro"/>
   <xacro:include filename="openarm_pedestal.urdf"/>
   <xacro:openarm prefix="right_" side="right"/>
   <xacro:openarm prefix="left_" side="left"/>

openarm_description/rviz/robot_description.rviz

@@ -1,42 +1,174 @@
 Panels:
   - Class: rviz_common/Displays
+    Help Height: 71
     Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 294
   - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
     Name: Views
+    Splitter Ratio: 0.5
 Visualization Manager:
   Class: ""
   Displays:
-    - Class: rviz_default_plugins/Grid
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
       Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
       Value: true
-      Alpha: 0.5
+    - Alpha: 1
-    - Class: rviz_default_plugins/RobotModel
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
       Description Source: Topic
       Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
         Value: /robot_description
       Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_left_jaw:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_right_jaw:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
-      Alpha: 1
+      TF Prefix: ""
+      Update Interval: 0
       Value: true
+      Visual Enabled: true
     - Class: rviz_default_plugins/TF
-      Name: TF
-      Value: true
       Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
   Global Options:
-    Fixed Frame: l_J1_v002
+    Background Color: 48; 48; 48
+    Fixed Frame: link1
     Frame Rate: 30
   Name: root
   Tools:
     - Class: rviz_default_plugins/MoveCamera
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 5.0
+      Distance: 5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Pitch: 0.33
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.33000001311302185
+      Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
       Yaw: 5.5
+    Saved: ~
 Window Geometry:
+  Displays:
+    collapsed: false
   Height: 800
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001b6000002c5fc0200000002fb000000100044006900730070006c006100790073010000003e000001aa000000cb00fffffffb0000000a0056006900650077007301000001ee00000115000000a500ffffff000002f4000002c500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
   Width: 1200
+  X: 43
+  Y: 12

openarm_description/urdf/openarm.urdf.xacro

@@ -6,7 +6,7 @@
         <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
     </material>
 
-    <xacro:macro name="openarm" params="side prefix">
+    <xacro:macro name="openarm" params="side:='right' prefix:=''">
         <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
         <xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
 

openarm_description/urdf/openarm_wrapper.urdf.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
-    <xacro:include filename="openarm.xacro.urdf"/>
+    <xacro:include filename="openarm.urdf.xacro"/>
     <xacro:openarm/>
     <xacro:include filename="openarm_sensors.urdf.xacro"/>
 </robot>