removed gui from chonkur_comm and gave it a separate launch so it can be ran on the console machine

Author: mtobia-nasa

README.md

@@ -25,11 +25,15 @@ ros2 launch clr_deploy clr_sim.launch.py model_env:=true
 For hardware we run the UR pendantless, which is a two part launch process:
 
 ```bash
-# To launch the hardware robot, first deploy the UR tools to activate the dashboard client
+# To launch the hardware robot, first deploy chonkur communications to activate the dashboard client
 # in its own long-lived shell on the controls machine.
 ros2 launch chonkur_deploy chonkur_comm.launch.py
 
-# Start the hardware interfaces for the rail, lift, and ChonkUR.
+# On the console machine, launch the UR GUI, which handles most operations that normally occur on the UR pendant
+ros2 launch chonkur_deploy chonkur_gui.launch.py 
+
+# Back on the controls machine, after reading the UR arm
+# Start the hardware interfaces for the rail, lift, and ChonkUR
 ros2 launch clr_deploy clr_hw.launch.py
 ```
 

chonkur/chonkur_deploy/launch/chonkur_comm.launch.py

@@ -109,17 +109,6 @@ def generate_launch_description():
         ],
     )
 
-    gui_config_path = os.path.join(get_package_share_directory("chonkur_deploy"), "config", "drt_ur_gui_config.yaml")
-
-    ur_gui = include_launch_file(
-        package_name="drt_ur_gui",
-        launch_file="one_arm.launch.py",
-        launch_arguments={
-            "ns": namespace,
-            "config_file_path": gui_config_path,
-        }.items(),
-    )
-
-    nodes = [robot_state_helper_node, ur_dashboard_client, hande_comm_node, ur_gui]
+    nodes = [robot_state_helper_node, ur_dashboard_client, hande_comm_node]
 
     return LaunchDescription(declared_arguments + nodes)

chonkur/chonkur_deploy/launch/chonkur_gui.launch.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2025, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# This software is 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
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from chonkur_deploy.launch_helpers import include_launch_file
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace for the robot.",
+        )
+    )
+
+    # Initialize Arguments
+    namespace = LaunchConfiguration("namespace")
+
+    gui_config_path = os.path.join(get_package_share_directory("chonkur_deploy"), "config", "drt_ur_gui_config.yaml")
+
+    ur_gui = include_launch_file(
+        package_name="drt_ur_gui",
+        launch_file="one_arm.launch.py",
+        launch_arguments={
+            "ns": namespace,
+            "config_file_path": gui_config_path,
+        }.items(),
+    )
+
+    nodes = [ur_gui]
+
+    return LaunchDescription(declared_arguments + nodes)