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| 1 | +# Copyright (c) 2025 Universal Robots A/S |
| 2 | +# |
| 3 | +# Redistribution and use in source and binary forms, with or without |
| 4 | +# modification, are permitted provided that the following conditions are met: |
| 5 | +# |
| 6 | +# * Redistributions of source code must retain the above copyright |
| 7 | +# notice, this list of conditions and the following disclaimer. |
| 8 | +# |
| 9 | +# * Redistributions in binary form must reproduce the above copyright |
| 10 | +# notice, this list of conditions and the following disclaimer in the |
| 11 | +# documentation and/or other materials provided with the distribution. |
| 12 | +# |
| 13 | +# * Neither the name of the {copyright_holder} nor the names of its |
| 14 | +# contributors may be used to endorse or promote products derived from |
| 15 | +# this software without specific prior written permission. |
| 16 | +# |
| 17 | +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
| 21 | +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | +# POSSIBILITY OF SUCH DAMAGE. |
| 28 | + |
| 29 | +from launch import LaunchDescription |
| 30 | +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription |
| 31 | +from launch.launch_description_sources import PythonLaunchDescriptionSource |
| 32 | +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir |
| 33 | + |
| 34 | + |
| 35 | +def generate_launch_description(): |
| 36 | + # Declare arguments |
| 37 | + declared_arguments = [] |
| 38 | + declared_arguments.append( |
| 39 | + DeclareLaunchArgument( |
| 40 | + "robot_ip", |
| 41 | + description="IP address by which the robot can be reached.", |
| 42 | + ) |
| 43 | + ) |
| 44 | + declared_arguments.append( |
| 45 | + DeclareLaunchArgument( |
| 46 | + "use_mock_hardware", |
| 47 | + default_value="false", |
| 48 | + description="Start robot with mock hardware mirroring command to its states.", |
| 49 | + ) |
| 50 | + ) |
| 51 | + declared_arguments.append( |
| 52 | + DeclareLaunchArgument( |
| 53 | + "mock_sensor_commands", |
| 54 | + default_value="false", |
| 55 | + description="Enable mock command interfaces for sensors used for simple simulations. " |
| 56 | + "Used only if 'use_mock_hardware' parameter is true.", |
| 57 | + ) |
| 58 | + ) |
| 59 | + declared_arguments.append( |
| 60 | + DeclareLaunchArgument( |
| 61 | + "initial_joint_controller", |
| 62 | + default_value="scaled_joint_trajectory_controller", |
| 63 | + description="Initially loaded robot controller.", |
| 64 | + choices=[ |
| 65 | + "scaled_joint_trajectory_controller", |
| 66 | + "joint_trajectory_controller", |
| 67 | + "forward_velocity_controller", |
| 68 | + "forward_position_controller", |
| 69 | + "freedrive_mode_controller", |
| 70 | + "passthrough_trajectory_controller", |
| 71 | + ], |
| 72 | + ) |
| 73 | + ) |
| 74 | + declared_arguments.append( |
| 75 | + DeclareLaunchArgument( |
| 76 | + "activate_joint_controller", |
| 77 | + default_value="true", |
| 78 | + description="Activate loaded joint controller.", |
| 79 | + ) |
| 80 | + ) |
| 81 | + |
| 82 | + # Initialize Arguments |
| 83 | + robot_ip = LaunchConfiguration("robot_ip") |
| 84 | + use_mock_hardware = LaunchConfiguration("use_mock_hardware") |
| 85 | + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") |
| 86 | + initial_joint_controller = LaunchConfiguration("initial_joint_controller") |
| 87 | + activate_joint_controller = LaunchConfiguration("activate_joint_controller") |
| 88 | + |
| 89 | + base_launch = IncludeLaunchDescription( |
| 90 | + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), |
| 91 | + launch_arguments={ |
| 92 | + "ur_type": "ur8long", |
| 93 | + "robot_ip": robot_ip, |
| 94 | + "use_mock_hardware": use_mock_hardware, |
| 95 | + "mock_sensor_commands": mock_sensor_commands, |
| 96 | + "initial_joint_controller": initial_joint_controller, |
| 97 | + "activate_joint_controller": activate_joint_controller, |
| 98 | + }.items(), |
| 99 | + ) |
| 100 | + |
| 101 | + return LaunchDescription(declared_arguments + [base_launch]) |
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