595fbe7745
- openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control
47 lines
1.5 KiB
Python
47 lines
1.5 KiB
Python
# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
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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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#
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# Source of this file are templates in
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# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
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#
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# Author: Dr. Denis
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#
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from launch import LaunchDescription
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from launch.substitutions import 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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def generate_launch_description():
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position_goals = PathJoinSubstitution(
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[FindPackageShare("openarm_bringup"), "config", "test_goal_publishers_config.yaml"]
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)
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return LaunchDescription(
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[
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Node(
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package="ros2_controllers_test_nodes",
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executable="publisher_forward_position_controller",
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name="publisher_forward_position_controller",
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parameters=[position_goals],
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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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)
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]
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)
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