Added view_ur for checking description

Author: destogl

ur_bringup/launch/ur_control.launch.py

@@ -30,11 +30,6 @@ def generate_launch_description():
     )
     # TODO(anyone): enable this when added into ROS2-foxy
     # choices=['ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'ur16e']))
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "robot_ip", description="IP address by which the robot can be reached."
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",
@@ -124,7 +119,6 @@ def generate_launch_description():
 
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
-    robot_ip = LaunchConfiguration("robot_ip")
     safety_limits = LaunchConfiguration("safety_limits")
     safety_pos_margin = LaunchConfiguration("safety_pos_margin")
     safety_k_position = LaunchConfiguration("safety_k_position")
@@ -167,9 +161,6 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
             " ",
-            "robot_ip:=",
-            robot_ip,
-            " ",
             "joint_limit_params:=",
             joint_limit_params,
             " ",
@@ -206,32 +197,17 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_fake_hardware:=",
-            use_fake_hardware,
-            " ",
-            "fake_sensor_commands:=",
-            fake_sensor_commands,
-            " ",
         ]
     )
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = PathJoinSubstitution(
-        [FindPackageShare(runtime_config_package), "config", controllers_file]
-    )
-
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare(description_package), "rviz", "view_robot.rviz"]
     )
 
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output={
-            "stdout": "screen",
-            "stderr": "screen",
-        },
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
     )
 
     robot_state_publisher_node = Node(
@@ -250,53 +226,10 @@ def generate_launch_description():
         arguments=["-d", rviz_config_file],
     )
 
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner.py",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
-    )
-
-    io_and_status_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner.py",
-        arguments=["io_and_status_controller", "-c", "/controller_manager"],
-    )
-
-    speed_scaling_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner.py",
-        arguments=[
-            "speed_scaling_state_broadcaster",
-            "--controller-manager",
-            "/controller_manager",
-        ],
-    )
-
-    force_torque_sensor_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner.py",
-        arguments=[
-            "force_torque_sensor_broadcaster",
-            "--controller-manager",
-            "/controller_manager",
-        ],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner.py",
-        arguments=[robot_controller, "-c", "/controller_manager"],
-    )
-
     nodes_to_start = [
-        control_node,
+        joint_state_publisher_node,
         robot_state_publisher_node,
         rviz_node,
-        joint_state_broadcaster_spawner,
-        io_and_status_controller_spawner,
-        speed_scaling_state_broadcaster_spawner,
-        force_torque_sensor_broadcaster_spawner,
-        robot_controller_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes_to_start)