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Felix Exner (fexner)VinDp
Felix Exner (fexner)
and
VinDp
authored
Move starting the robot_state_publisher to an own launch file (#977)
* Factor loading the description and launch the rsp into own launchfile * Remove all "_package" configurations and directly use file paths instead * Specify all description config files directly With the `description_package/config/<ur_type>/...` approach one had to actually replace all files in order to provide an own description. This should make it easier to adapt. Co-authored-by: Vincenzo Di Pentima <[email protected]>
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+524
-212
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2 files changed

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‎ur_robot_driver/launch/ur_control.launch.py‎

Lines changed: 52 additions & 212 deletions
Original file line numberDiff line numberDiff line change
@@ -34,216 +34,40 @@
3434
from launch_ros.substitutions import FindPackageShare
3535

3636
from launch import LaunchDescription
37-
from launch.actions import DeclareLaunchArgument, OpaqueFunction
37+
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
3838
from launch.conditions import IfCondition, UnlessCondition
3939
from launch.substitutions import (
40-
Command,
41-
FindExecutable,
4240
LaunchConfiguration,
4341
PathJoinSubstitution,
4442
)
43+
from launch.launch_description_sources import AnyLaunchDescriptionSource
4544

4645

47-
def launch_setup(context, *args, **kwargs):
46+
def launch_setup():
4847
# Initialize Arguments
4948
ur_type = LaunchConfiguration("ur_type")
5049
robot_ip = LaunchConfiguration("robot_ip")
51-
safety_limits = LaunchConfiguration("safety_limits")
52-
safety_pos_margin = LaunchConfiguration("safety_pos_margin")
53-
safety_k_position = LaunchConfiguration("safety_k_position")
5450
# General arguments
55-
runtime_config_package = LaunchConfiguration("runtime_config_package")
5651
controllers_file = LaunchConfiguration("controllers_file")
57-
description_package = LaunchConfiguration("description_package")
58-
description_file = LaunchConfiguration("description_file")
59-
tf_prefix = LaunchConfiguration("tf_prefix")
52+
description_launchfile = LaunchConfiguration("description_launchfile")
6053
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
61-
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
6254
controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
6355
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
6456
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
6557
launch_rviz = LaunchConfiguration("launch_rviz")
58+
rviz_config_file = LaunchConfiguration("rviz_config_file")
6659
headless_mode = LaunchConfiguration("headless_mode")
6760
launch_dashboard_client = LaunchConfiguration("launch_dashboard_client")
6861
use_tool_communication = LaunchConfiguration("use_tool_communication")
69-
tool_parity = LaunchConfiguration("tool_parity")
70-
tool_baud_rate = LaunchConfiguration("tool_baud_rate")
71-
tool_stop_bits = LaunchConfiguration("tool_stop_bits")
72-
tool_rx_idle_chars = LaunchConfiguration("tool_rx_idle_chars")
73-
tool_tx_idle_chars = LaunchConfiguration("tool_tx_idle_chars")
7462
tool_device_name = LaunchConfiguration("tool_device_name")
7563
tool_tcp_port = LaunchConfiguration("tool_tcp_port")
76-
tool_voltage = LaunchConfiguration("tool_voltage")
77-
reverse_ip = LaunchConfiguration("reverse_ip")
78-
script_command_port = LaunchConfiguration("script_command_port")
79-
reverse_port = LaunchConfiguration("reverse_port")
80-
script_sender_port = LaunchConfiguration("script_sender_port")
81-
trajectory_port = LaunchConfiguration("trajectory_port")
82-
83-
joint_limit_params = PathJoinSubstitution(
84-
[FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
85-
)
86-
kinematics_params = PathJoinSubstitution(
87-
[
88-
FindPackageShare(description_package),
89-
"config",
90-
ur_type,
91-
"default_kinematics.yaml",
92-
]
93-
)
94-
physical_params = PathJoinSubstitution(
95-
[
96-
FindPackageShare(description_package),
97-
"config",
98-
ur_type,
99-
"physical_parameters.yaml",
100-
]
101-
)
102-
visual_params = PathJoinSubstitution(
103-
[
104-
FindPackageShare(description_package),
105-
"config",
106-
ur_type,
107-
"visual_parameters.yaml",
108-
]
109-
)
110-
script_filename = PathJoinSubstitution(
111-
[
112-
FindPackageShare("ur_client_library"),
113-
"resources",
114-
"external_control.urscript",
115-
]
116-
)
117-
input_recipe_filename = PathJoinSubstitution(
118-
[FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
119-
)
120-
output_recipe_filename = PathJoinSubstitution(
121-
[FindPackageShare("ur_robot_driver"), "resources", "rtde_output_recipe.txt"]
122-
)
123-
124-
robot_description_content = Command(
125-
[
126-
PathJoinSubstitution([FindExecutable(name="xacro")]),
127-
" ",
128-
PathJoinSubstitution([FindPackageShare("ur_robot_driver"), "urdf", description_file]),
129-
" ",
130-
"robot_ip:=",
131-
robot_ip,
132-
" ",
133-
"joint_limit_params:=",
134-
joint_limit_params,
135-
" ",
136-
"kinematics_params:=",
137-
kinematics_params,
138-
" ",
139-
"physical_params:=",
140-
physical_params,
141-
" ",
142-
"visual_params:=",
143-
visual_params,
144-
" ",
145-
"safety_limits:=",
146-
safety_limits,
147-
" ",
148-
"safety_pos_margin:=",
149-
safety_pos_margin,
150-
" ",
151-
"safety_k_position:=",
152-
safety_k_position,
153-
" ",
154-
"name:=",
155-
ur_type,
156-
" ",
157-
"script_filename:=",
158-
script_filename,
159-
" ",
160-
"input_recipe_filename:=",
161-
input_recipe_filename,
162-
" ",
163-
"output_recipe_filename:=",
164-
output_recipe_filename,
165-
" ",
166-
"tf_prefix:=",
167-
tf_prefix,
168-
" ",
169-
"use_mock_hardware:=",
170-
use_mock_hardware,
171-
" ",
172-
"mock_sensor_commands:=",
173-
mock_sensor_commands,
174-
" ",
175-
"headless_mode:=",
176-
headless_mode,
177-
" ",
178-
"use_tool_communication:=",
179-
use_tool_communication,
180-
" ",
181-
"tool_parity:=",
182-
tool_parity,
183-
" ",
184-
"tool_baud_rate:=",
185-
tool_baud_rate,
186-
" ",
187-
"tool_stop_bits:=",
188-
tool_stop_bits,
189-
" ",
190-
"tool_rx_idle_chars:=",
191-
tool_rx_idle_chars,
192-
" ",
193-
"tool_tx_idle_chars:=",
194-
tool_tx_idle_chars,
195-
" ",
196-
"tool_device_name:=",
197-
tool_device_name,
198-
" ",
199-
"tool_tcp_port:=",
200-
tool_tcp_port,
201-
" ",
202-
"tool_voltage:=",
203-
tool_voltage,
204-
" ",
205-
"reverse_ip:=",
206-
reverse_ip,
207-
" ",
208-
"script_command_port:=",
209-
script_command_port,
210-
" ",
211-
"reverse_port:=",
212-
reverse_port,
213-
" ",
214-
"script_sender_port:=",
215-
script_sender_port,
216-
" ",
217-
"trajectory_port:=",
218-
trajectory_port,
219-
" ",
220-
]
221-
)
222-
robot_description = {"robot_description": robot_description_content}
223-
224-
initial_joint_controllers = PathJoinSubstitution(
225-
[FindPackageShare(runtime_config_package), "config", controllers_file]
226-
)
227-
228-
rviz_config_file = PathJoinSubstitution(
229-
[FindPackageShare(description_package), "rviz", "view_robot.rviz"]
230-
)
231-
232-
# define update rate
233-
update_rate_config_file = PathJoinSubstitution(
234-
[
235-
FindPackageShare(runtime_config_package),
236-
"config",
237-
ur_type.perform(context) + "_update_rate.yaml",
238-
]
239-
)
24064

24165
control_node = Node(
24266
package="controller_manager",
24367
executable="ros2_control_node",
24468
parameters=[
245-
update_rate_config_file,
246-
ParameterFile(initial_joint_controllers, allow_substs=True),
69+
LaunchConfiguration("update_rate_config_file"),
70+
ParameterFile(controllers_file, allow_substs=True),
24771
],
24872
output="screen",
24973
)
@@ -302,13 +126,6 @@ def launch_setup(context, *args, **kwargs):
302126
],
303127
)
304128

305-
robot_state_publisher_node = Node(
306-
package="robot_state_publisher",
307-
executable="robot_state_publisher",
308-
output="both",
309-
parameters=[robot_description],
310-
)
311-
312129
rviz_node = Node(
313130
package="rviz2",
314131
condition=IfCondition(launch_rviz),
@@ -373,13 +190,21 @@ def controller_spawner(controllers, active=True):
373190
condition=UnlessCondition(activate_joint_controller),
374191
)
375192

193+
rsp = IncludeLaunchDescription(
194+
AnyLaunchDescriptionSource(description_launchfile),
195+
launch_arguments={
196+
"robot_ip": robot_ip,
197+
"ur_type": ur_type,
198+
}.items(),
199+
)
200+
376201
nodes_to_start = [
377202
control_node,
378203
dashboard_client_node,
379204
tool_communication_node,
380205
controller_stopper_node,
381206
urscript_interface,
382-
robot_state_publisher_node,
207+
rsp,
383208
rviz_node,
384209
initial_joint_controller_spawner_stopped,
385210
initial_joint_controller_spawner_started,
@@ -435,34 +260,24 @@ def generate_launch_description():
435260
)
436261
)
437262
# General arguments
438-
declared_arguments.append(
439-
DeclareLaunchArgument(
440-
"runtime_config_package",
441-
default_value="ur_robot_driver",
442-
description='Package with the controller\'s configuration in "config" folder. '
443-
"Usually the argument is not set, it enables use of a custom setup.",
444-
)
445-
)
446263
declared_arguments.append(
447264
DeclareLaunchArgument(
448265
"controllers_file",
449-
default_value="ur_controllers.yaml",
266+
default_value=PathJoinSubstitution(
267+
[FindPackageShare("ur_robot_driver"), "config", "ur_controllers.yaml"]
268+
),
450269
description="YAML file with the controllers configuration.",
451270
)
452271
)
453272
declared_arguments.append(
454273
DeclareLaunchArgument(
455-
"description_package",
456-
default_value="ur_description",
457-
description="Description package with robot URDF/XACRO files. Usually the argument "
458-
"is not set, it enables use of a custom description.",
459-
)
460-
)
461-
declared_arguments.append(
462-
DeclareLaunchArgument(
463-
"description_file",
464-
default_value="ur.urdf.xacro",
465-
description="URDF/XACRO description file with the robot.",
274+
"description_launchfile",
275+
default_value=PathJoinSubstitution(
276+
[FindPackageShare("ur_robot_driver"), "launch", "ur_rsp.launch.py"]
277+
),
278+
description="Launchfile (absolute path) providing the description. "
279+
"The launchfile has to start a robot_state_publisher node that "
280+
"publishes the description topic.",
466281
)
467282
)
468283
declared_arguments.append(
@@ -520,6 +335,15 @@ def generate_launch_description():
520335
declared_arguments.append(
521336
DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
522337
)
338+
declared_arguments.append(
339+
DeclareLaunchArgument(
340+
"rviz_config_file",
341+
default_value=PathJoinSubstitution(
342+
[FindPackageShare("ur_description"), "rviz", "view_robot.rviz"]
343+
),
344+
description="RViz config file (absolute path) to use when launching rviz.",
345+
)
346+
)
523347
declared_arguments.append(
524348
DeclareLaunchArgument(
525349
"launch_dashboard_client",
@@ -633,4 +457,20 @@ def generate_launch_description():
633457
description="Port that will be opened for trajectory control.",
634458
)
635459
)
636-
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
460+
declared_arguments.append(
461+
DeclareLaunchArgument(
462+
name="update_rate_config_file",
463+
default_value=[
464+
PathJoinSubstitution(
465+
[
466+
FindPackageShare("ur_robot_driver"),
467+
"config",
468+
]
469+
),
470+
"/",
471+
LaunchConfiguration("ur_type"),
472+
"_update_rate.yaml",
473+
],
474+
)
475+
)
476+
return LaunchDescription(declared_arguments + launch_setup())

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