67a60a23ba
This PR is made for new release and do not work with current v0.3 robot descriptions. Use for the ros2 control for quick arm control. Launch files spawn: - Robot state publisher - Controller manager with ros2_control - Joint state broadcaster - Robot controller (joint trajectory or forward position) - Gripper controller - RViz2 visualization --------- Co-authored-by: Thomason Zhou <t95zhou@uwaterloo.ca>
286 lines
11 KiB
Python
286 lines
11 KiB
Python
# Copyright 2025 Enactic, Inc.
|
|
# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
import os
|
|
import xacro
|
|
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
from launch import LaunchDescription, LaunchContext
|
|
from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction, OpaqueFunction
|
|
from launch.event_handlers import OnProcessExit
|
|
from launch.substitutions import (
|
|
LaunchConfiguration,
|
|
PathJoinSubstitution,
|
|
)
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
|
|
|
|
def namespace_from_context(context, arm_prefix):
|
|
arm_prefix_str = context.perform_substitution(arm_prefix)
|
|
if arm_prefix_str:
|
|
return arm_prefix_str.strip('/')
|
|
return None
|
|
|
|
|
|
def generate_robot_description(context: LaunchContext, description_package, description_file,
|
|
arm_type, use_fake_hardware, right_can_interface, left_can_interface):
|
|
"""Generate robot description using xacro processing."""
|
|
|
|
description_package_str = context.perform_substitution(description_package)
|
|
description_file_str = context.perform_substitution(description_file)
|
|
arm_type_str = context.perform_substitution(arm_type)
|
|
use_fake_hardware_str = context.perform_substitution(use_fake_hardware)
|
|
right_can_interface_str = context.perform_substitution(right_can_interface)
|
|
left_can_interface_str = context.perform_substitution(left_can_interface)
|
|
|
|
xacro_path = os.path.join(
|
|
get_package_share_directory(description_package_str),
|
|
"urdf", "robot", description_file_str
|
|
)
|
|
|
|
# Process xacro with required arguments
|
|
robot_description = xacro.process_file(
|
|
xacro_path,
|
|
mappings={
|
|
"arm_type": arm_type_str,
|
|
"bimanual": "true",
|
|
"use_fake_hardware": use_fake_hardware_str,
|
|
"ros2_control": "true",
|
|
"right_can_interface": right_can_interface_str,
|
|
"left_can_interface": left_can_interface_str,
|
|
}
|
|
).toprettyxml(indent=" ")
|
|
|
|
return robot_description
|
|
|
|
|
|
def robot_nodes_spawner(context: LaunchContext, description_package, description_file,
|
|
arm_type, use_fake_hardware, controllers_file, right_can_interface, left_can_interface, arm_prefix):
|
|
"""Spawn both robot state publisher and control nodes with shared robot description."""
|
|
namespace = namespace_from_context(context, arm_prefix)
|
|
|
|
robot_description = generate_robot_description(
|
|
context, description_package, description_file, arm_type, use_fake_hardware, right_can_interface, left_can_interface,
|
|
)
|
|
|
|
controllers_file_str = context.perform_substitution(controllers_file)
|
|
robot_description_param = {"robot_description": robot_description}
|
|
|
|
if namespace:
|
|
controllers_file_str = controllers_file_str.replace(
|
|
"openarm_v10_bimanual_controllers.yaml", "openarm_v10_bimanual_controllers_namespaced.yaml"
|
|
)
|
|
robot_state_pub_node = Node(
|
|
package="robot_state_publisher",
|
|
executable="robot_state_publisher",
|
|
name="robot_state_publisher",
|
|
output="screen",
|
|
namespace=namespace,
|
|
parameters=[robot_description_param],
|
|
)
|
|
|
|
control_node = Node(
|
|
package="controller_manager",
|
|
executable="ros2_control_node",
|
|
output="both",
|
|
namespace=namespace,
|
|
parameters=[robot_description_param, controllers_file_str],
|
|
)
|
|
|
|
return [robot_state_pub_node, control_node]
|
|
|
|
|
|
def controller_spawner(context: LaunchContext, robot_controller, arm_prefix):
|
|
"""Spawn controller based on robot_controller argument."""
|
|
namespace = namespace_from_context(context, arm_prefix)
|
|
|
|
controller_manager_ref = f"/{namespace}/controller_manager" if namespace else "/controller_manager"
|
|
|
|
robot_controller_str = context.perform_substitution(robot_controller)
|
|
|
|
if robot_controller_str == "forward_position_controller":
|
|
robot_controller_left = "left_forward_position_controller"
|
|
robot_controller_right = "right_forward_position_controller"
|
|
elif robot_controller_str == "joint_trajectory_controller":
|
|
robot_controller_left = "left_joint_trajectory_controller"
|
|
robot_controller_right = "right_joint_trajectory_controller"
|
|
else:
|
|
raise ValueError(f"Unknown robot_controller: {robot_controller_str}")
|
|
|
|
robot_controller_spawner = Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
namespace=namespace,
|
|
arguments=[robot_controller_left,
|
|
robot_controller_right, "-c", controller_manager_ref],
|
|
)
|
|
|
|
return [robot_controller_spawner]
|
|
|
|
|
|
def generate_launch_description():
|
|
"""Generate launch description for OpenArm bimanual configuration."""
|
|
|
|
# Declare launch arguments
|
|
declared_arguments = [
|
|
DeclareLaunchArgument(
|
|
"description_package",
|
|
default_value="openarm_description",
|
|
description="Description package with robot URDF/xacro files.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"description_file",
|
|
default_value="v10.urdf.xacro",
|
|
description="URDF/XACRO description file with the robot.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"arm_type",
|
|
default_value="v10",
|
|
description="Type of arm (e.g., v10).",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"use_fake_hardware",
|
|
default_value="false",
|
|
description="Use fake hardware instead of real hardware.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"robot_controller",
|
|
default_value="joint_trajectory_controller",
|
|
choices=["forward_position_controller",
|
|
"joint_trajectory_controller"],
|
|
description="Robot controller to start.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"runtime_config_package",
|
|
default_value="openarm_bringup",
|
|
description="Package with the controller's configuration in config folder.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"arm_prefix",
|
|
default_value="",
|
|
description="Prefix for the arm for topic namespacing.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"right_can_interface",
|
|
default_value="can0",
|
|
description="CAN interface to use for the right arm.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"left_can_interface",
|
|
default_value="can1",
|
|
description="CAN interface to use for the left arm.",
|
|
),
|
|
DeclareLaunchArgument(
|
|
"controllers_file",
|
|
default_value="openarm_v10_bimanual_controllers.yaml",
|
|
description="Controllers file(s) to use. Can be a single file or comma-separated list of files.",
|
|
),
|
|
]
|
|
|
|
# Initialize launch configurations
|
|
description_package = LaunchConfiguration("description_package")
|
|
description_file = LaunchConfiguration("description_file")
|
|
arm_type = LaunchConfiguration("arm_type")
|
|
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
|
|
robot_controller = LaunchConfiguration("robot_controller")
|
|
runtime_config_package = LaunchConfiguration("runtime_config_package")
|
|
controllers_file = LaunchConfiguration("controllers_file")
|
|
rightcan_interface = LaunchConfiguration("right_can_interface")
|
|
left_can_interface = LaunchConfiguration("left_can_interface")
|
|
arm_prefix = LaunchConfiguration("arm_prefix")
|
|
|
|
controllers_file = PathJoinSubstitution(
|
|
[FindPackageShare(runtime_config_package), "config",
|
|
"v10_controllers", controllers_file]
|
|
)
|
|
|
|
robot_nodes_spawner_func = OpaqueFunction(
|
|
function=robot_nodes_spawner,
|
|
args=[description_package, description_file, arm_type,
|
|
use_fake_hardware, controllers_file, rightcan_interface, left_can_interface, arm_prefix]
|
|
)
|
|
|
|
rviz_config_file = PathJoinSubstitution(
|
|
[FindPackageShare(description_package), "rviz",
|
|
"bimanual.rviz"]
|
|
)
|
|
|
|
rviz_node = Node(
|
|
package="rviz2",
|
|
executable="rviz2",
|
|
name="rviz2",
|
|
output="log",
|
|
arguments=["-d", rviz_config_file],
|
|
)
|
|
|
|
# Joint state broadcaster spawner
|
|
joint_state_broadcaster_spawner = OpaqueFunction(
|
|
function=lambda context: [Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
namespace=namespace_from_context(context, arm_prefix),
|
|
arguments=["joint_state_broadcaster",
|
|
"--controller-manager",
|
|
f"/{namespace_from_context(context, arm_prefix)}/controller_manager" if namespace_from_context(context, arm_prefix) else "/controller_manager"],
|
|
)]
|
|
)
|
|
|
|
# Controller spawners
|
|
controller_spawner_func = OpaqueFunction(
|
|
function=controller_spawner,
|
|
args=[robot_controller, arm_prefix]
|
|
)
|
|
|
|
gripper_controller_spawner = OpaqueFunction(
|
|
function=lambda context: [Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
namespace=namespace_from_context(context, arm_prefix),
|
|
arguments=["left_gripper_controller",
|
|
"right_gripper_controller", "-c",
|
|
f"/{namespace_from_context(context, arm_prefix)}/controller_manager" if namespace_from_context(context, arm_prefix) else "/controller_manager"],
|
|
)]
|
|
)
|
|
|
|
# Timing and sequencing
|
|
LAUNCH_DELAY_SECONDS = 1.0
|
|
delayed_joint_state_broadcaster = TimerAction(
|
|
period=LAUNCH_DELAY_SECONDS,
|
|
actions=[joint_state_broadcaster_spawner],
|
|
)
|
|
|
|
delayed_robot_controller = TimerAction(
|
|
period=LAUNCH_DELAY_SECONDS,
|
|
actions=[controller_spawner_func],
|
|
)
|
|
delayed_gripper_controller = TimerAction(
|
|
period=LAUNCH_DELAY_SECONDS,
|
|
actions=[gripper_controller_spawner],
|
|
)
|
|
|
|
return LaunchDescription(
|
|
declared_arguments + [
|
|
robot_nodes_spawner_func,
|
|
rviz_node,
|
|
] +
|
|
[
|
|
delayed_joint_state_broadcaster,
|
|
delayed_robot_controller,
|
|
delayed_gripper_controller,
|
|
]
|
|
)
|