Skip to content

Modify launch and config for multirobot simulation support. Add robot_complete launch #75

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
jamendezib wants to merge 1 commit into
base: jazzy-devel
Choose a base branch
from
Open

Modify launch and config for multirobot simulation support. Add robot_complete launch #75

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
124 changes: 19 additions & 105 deletions common/robotnik_simulation_bringup/launch/bringup_complete.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,16 @@ def generate_launch_description():
default_value="false",
description="Enable MoveIt for manipulation"
),
DeclareLaunchArgument(
"run_localization",
default_value="true",
description="Enable localization stack"
),
DeclareLaunchArgument(
"run_navigation",
default_value="true",
description="Enable navigation stack"
),
DeclareLaunchArgument(
"arm_type",
default_value="ur10e",
Expand All @@ -102,6 +112,8 @@ def generate_launch_description():
world_path = LaunchConfiguration("world_path")
use_rviz = LaunchConfiguration("use_rviz")
run_moveit = LaunchConfiguration("run_moveit")
run_localization = LaunchConfiguration("run_localization")
run_navigation = LaunchConfiguration("run_navigation")
arm_type = LaunchConfiguration("arm_type")

gazebo_world = IncludeLaunchDescription(
Expand All @@ -117,127 +129,29 @@ def generate_launch_description():
}.items()
)

gazebo_robot = IncludeLaunchDescription(
robot_complete = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_gazebo_ignition'), 'launch/spawn_robot.launch.py'
FindPackageShare('robotnik_simulation_bringup'), 'launch/robot_complete.launch.py'
])
),
launch_arguments={
'robot_id': robot_id,
'robot': robot,
'robot_model': robot_model,
'robot_xacro_path': robot_xacro_path,
'run_moveit': run_moveit,
'run_localization': run_localization,
'run_navigation': run_navigation,
'arm_type': arm_type,
'low_performance_simulation': low_performance_simulation,
'run_rviz': 'false'
}.items()
)

# In spawn_robot.launch.py the add_laser("front") is defined for any robot model
# This causes two publishers to /robot/front_laser/scan when laser filters are enabled
# In rbsummit and rbwatcher is not an issue because front laser is not available
# but in other robot models that have front laser, it causes conflict.
laser_filters = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_bringup'), 'launch/laser_filters.launch.py'
])
),
launch_arguments={
'robot_id': robot_id,
'use_sim': 'true',
}.items(),
condition=IfCondition(
OrSubstitution(
OrSubstitution(
EqualsSubstitution(robot_model, 'rbsummit'),
EqualsSubstitution(robot_model, 'rbwatcher'),
),
EqualsSubstitution(robot_model, 'rbcar'),
)
)
)

localization = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_localization'), 'launch/localization.launch.py'
])
),
launch_arguments={
'robot_id': robot_id,
'use_sim': 'true',
}.items()
)

delayed_localization = TimerAction(
period=10.0,
actions=[localization]
)

navigation = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_navigation'), 'launch/navigation.launch.py'
])
),
launch_arguments={
'robot_id': robot_id,
'use_sim': 'true',
'use_rviz': use_rviz,
}.items()
)

delayed_navigation = TimerAction(
period=15.0,
actions=[navigation]
)

rviz = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_bringup'), 'launch/rviz.launch.py'
])
),
condition=IfCondition(use_rviz)
)

delayed_rviz = TimerAction(
period=20.0,
actions=[rviz]
)

moveit = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_moveit'), 'launch/moveit.launch.py',
])
),
launch_arguments={
'robot_id': robot_id,
'robot': robot,
'robot_model': robot_model,
'robot_xacro_path': robot_xacro_path,
'moveit_config_name': [robot, '_moveit_config'],
'arm_type': arm_type,
'use_sim_time': 'true',
}.items(),
condition=IfCondition(run_moveit),
)

delayed_moveit = TimerAction(
period=25.0,
actions=[moveit]
)

group = GroupAction([
gazebo_world,
gazebo_robot,
laser_filters,
delayed_localization,
delayed_navigation,
delayed_rviz,
delayed_moveit,
robot_complete
])

return LaunchDescription(declared_arguments + [group])
Loading