67 lines
2.2 KiB
Python
67 lines
2.2 KiB
Python
# Copyright 2025 Reazon Holdings, Inc.
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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 moveit_configs_utils import MoveItConfigsBuilder
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from moveit_configs_utils.launches import generate_demo_launch
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"hardware_type",
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default_value="real",
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description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"mock_sensor_commands",
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default_value="false",
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description="Enable writable sensor interfaces when using mock hardware",
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)
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)
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hardware_type = LaunchConfiguration("hardware_type")
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mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
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moveit_config = (
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MoveItConfigsBuilder("openarm_bimanual",
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package_name="openarm_bimanual_moveit_config")
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.robot_description(
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file_path="config/openarm_bimanual.urdf.xacro",
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mappings={
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"hardware_type": hardware_type,
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"mock_sensor_commands": mock_sensor_commands,
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},
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)
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.to_moveit_configs()
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)
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demo_ld = generate_demo_launch(moveit_config)
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ld = LaunchDescription()
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for arg in declared_arguments:
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ld.add_action(arg)
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for entity in demo_ld.entities:
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ld.add_action(entity)
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return ld
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