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81 changes: 81 additions & 0 deletions
81
ros2_control_demo_bringup/launch/rrbot_system_multi_interface.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| # Copyright 2021 Department of Engineering Cybernetics, NTNU. | ||
| # | ||
| # 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. | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| # Declare arguments | ||
| declared_arguments = [] | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "prefix", | ||
| default_value='""', | ||
| description="Prefix of the joint names, useful for \ | ||
| multi-robot setup. If changed than also joint names in the controllers' configuration \ | ||
| have to be updated.", | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "use_fake_hardware", | ||
| default_value="true", | ||
| description="Start robot with fake hardware mirroring command to its states.", | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "fake_sensor_commands", | ||
| default_value="false", | ||
| description="Enable fake command interfaces for sensors used for simple simulations. \ | ||
| Used only if 'use_fake_hardware' parameter is true.", | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "robot_controller", | ||
| default_value="forward_position_controller", | ||
| description="Robot controller to start.", | ||
| ) | ||
| ) | ||
|
|
||
| # Initialize Arguments | ||
| prefix = LaunchConfiguration("prefix") | ||
| use_fake_hardware = LaunchConfiguration("use_fake_hardware") | ||
| fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") | ||
| slowdown = LaunchConfiguration("slowdown") | ||
| robot_controller = LaunchConfiguration("robot_controller") | ||
|
|
||
| base_launch = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot.launch.py"]), | ||
| launch_arguments={ | ||
| "controllers_file": "rrbot_multi_interface_forward_controllers.yaml", | ||
| "description_file": "rrbot_system_multi_interface.urdf.xacro", | ||
| "prefix": prefix, | ||
| "use_fake_hardware": use_fake_hardware, | ||
| "fake_sensor_commands": fake_sensor_commands, | ||
| "slowdown": slowdown, | ||
| "robot_controller": robot_controller, | ||
| }.items(), | ||
| ) | ||
|
|
||
| return LaunchDescription(declared_arguments + [base_launch]) |
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105
ros2_control_demo_bringup/launch/rrbot_system_position_only_gazebo.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| # Copyright 2021 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # 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. | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, ThisLaunchFileDir | ||
|
|
||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| # Declare arguments | ||
| declared_arguments = [] | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "prefix", | ||
| default_value='""', | ||
| description="Prefix of the joint names, useful for \ | ||
| multi-robot setup. If changed than also joint names in the controllers' configuration \ | ||
| have to be updated.", | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "use_fake_hardware", | ||
| default_value="true", | ||
| description="Start robot with fake hardware mirroring command to its states.", | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "fake_sensor_commands", | ||
| default_value="false", | ||
| description="Enable fake command interfaces for sensors used for simple simulations. \ | ||
| Used only if 'use_fake_hardware' parameter is true.", | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." | ||
| ) | ||
| ) | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "robot_controller", | ||
| default_value="forward_position_controller", | ||
| description="Robot controller to start.", | ||
| ) | ||
| ) | ||
|
|
||
| # Initialize Arguments | ||
| prefix = LaunchConfiguration("prefix") | ||
| use_fake_hardware = LaunchConfiguration("use_fake_hardware") | ||
| fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") | ||
| slowdown = LaunchConfiguration("slowdown") | ||
| robot_controller = LaunchConfiguration("robot_controller") | ||
|
|
||
| gazebo = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [ | ||
| PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare("gazebo_ros"), | ||
| "launch", | ||
| "/gazebo.launch.py", | ||
| ] | ||
| ) | ||
| ] | ||
| ), | ||
| launch_arguments={"verbose": "false"}.items(), | ||
| ) | ||
|
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| spawn_entity = Node( | ||
| package="gazebo_ros", | ||
| executable="spawn_entity.py", | ||
| arguments=["-topic", "robot_description", "-entity", "rrbot_system_position"], | ||
| output="screen", | ||
| ) | ||
|
|
||
| base_launch = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot.launch.py"]), | ||
| launch_arguments={ | ||
| "description_file": "rrbot_system_position_only.urdf.xacro", | ||
| "prefix": prefix, | ||
| "use_fake_hardware": use_fake_hardware, | ||
| "fake_sensor_commands": fake_sensor_commands, | ||
| "slowdown": slowdown, | ||
| "robot_controller": robot_controller, | ||
| }.items(), | ||
| ) | ||
|
|
||
| return LaunchDescription(declared_arguments + [gazebo, base_launch, spawn_entity]) |
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30 changes: 23 additions & 7 deletions
30
...system_multi_interface.ros2_control.xacro → ...system_multi_interface.ros2_control.xacro
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46
ros2_control_demo_description/urdf/rrbot_system_multi_interface.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- Revolute-Revolute Manipulator --> | ||
| <!-- | ||
| Copied and modified from ROS1 example: | ||
| https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro | ||
| --> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot"> | ||
| <xacro:arg name="use_sim" default="false" /> | ||
|
|
||
| <!-- Enable setting arguments from the launch file --> | ||
| <xacro:arg name="use_fake_hardware" default="true" /> | ||
| <xacro:arg name="fake_sensor_commands" default="false" /> | ||
| <xacro:arg name="prefix" default="" /> | ||
| <xacro:arg name="slowdown" default="2.0" /> | ||
|
|
||
| <!-- Import RRBot macro --> | ||
| <xacro:include filename="$(find ros2_control_demo_description)/urdf/rrbot/rrbot.urdf.xacro" /> | ||
|
|
||
| <!-- Import all Gazebo-customization elements, including Gazebo colors --> | ||
| <xacro:include filename="$(find ros2_control_demo_description)/urdf/rrbot/gazebo/rrbot.gazebo.xacro" /> | ||
|
|
||
| <!-- Import Rviz colors --> | ||
| <xacro:include filename="$(find ros2_control_demo_description)/urdf/rrbot/gazebo/rrbot.materials.xacro" /> | ||
|
|
||
| <!-- Import RRBot ros2_control description --> | ||
| <xacro:include filename="$(find ros2_control_demo_description)/urdf/rrbot/ros2_control/rrbot_system_position_only.ros2_control.xacro" /> | ||
|
|
||
| <!-- Used for fixing robot --> | ||
| <link name="world"/> | ||
| <gazebo reference="world"> | ||
| <static>true</static> | ||
| </gazebo> | ||
|
|
||
| <xacro:rrbot parent="world" prefix="$(arg prefix)"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:rrbot> | ||
|
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| <xacro:rrbot_gazebo prefix="$(arg prefix)" /> | ||
|
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| <xacro:rrbot_system_multi_interface | ||
| name="RRBotSystemMultiInterface" prefix="$(arg prefix)" | ||
| use_fake_hardware="$(arg use_fake_hardware)" | ||
| fake_sensor_commands="$(arg fake_sensor_commands)" | ||
| slowdown="$(arg slowdown)" /> | ||
|
|
||
| </robot> |
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...l_demo_robot/description/rrbot/ros2_control/rrbot_system_position_only.ros2_control.xacro
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