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Added view_ur for checking description (#81)
* Added view_ur for checking description
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‎README.md‎

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@@ -105,6 +105,13 @@ The most relevant arguments are the following:
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Now you should be able to use MoveIt Plugin in rviz2 to plan and execute trajectories with the robot.
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**NOTE**: This results in two instances of rviz2. You can safely close the one without *MotionPlanning* panel.
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If you have **issues** shows the correct configuration5 of the robot, try removing and re-adding *MotionPlanning* display.
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5. If you just want to test description of the UR robots, e.g., after changes you can use the following command:
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```
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ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
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```
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## Expected Changes in the Near Future
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- Using upstream `force_torque_sensor_broadcaster` (ros-controls/ros2_controllers#152)

‎ur_description/launch/view_ur.launch.py‎

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# Copyright (c) 2021, PickNik, Inc.
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# Copyright (c) 2021 PickNik, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.v
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import os
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# limitations under the License.
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#
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# Author: Denis Stogl
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import xacro
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import yaml
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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def load_file(package_name, file_path):
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package_path = get_package_share_directory(package_name)
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absolute_file_path = os.path.join(package_path, file_path)
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try:
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with open(absolute_file_path, "r") as file:
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return file.read()
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except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
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return None
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# set ur robot
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robot_name = "ur5_e"
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# <robot_name> parameters files
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joint_limits_params = os.path.join(
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get_package_share_directory("ur_description"),
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"config/" + robot_name.replace("_", ""),
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"joint_limits.yaml",
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)
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kinematics_params = os.path.join(
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get_package_share_directory("ur_description"),
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"config/" + robot_name.replace("_", ""),
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"default_kinematics.yaml",
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)
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physical_params = os.path.join(
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get_package_share_directory("ur_description"),
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"config/" + robot_name.replace("_", ""),
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"physical_parameters.yaml",
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)
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visual_params = os.path.join(
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get_package_share_directory("ur_description"),
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"config/" + robot_name.replace("_", ""),
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"visual_parameters.yaml",
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declared_arguments = []
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# UR specific arguments
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declared_arguments.append(
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DeclareLaunchArgument("ur_type", description="Type/series of used UR robot.")
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)
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# common parameters
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# If True, enable the safety limits controller
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safety_limits = False
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# The lower/upper limits in the safety controller
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safety_pos_margin = 0.15
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# Used to set k position in the safety controller
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safety_k_position = 20
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# Get URDF via xacro
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robot_description_path = os.path.join(
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get_package_share_directory("ur_description"), "urdf", "ur.xacro"
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# TODO(anyone): enable this when added into ROS2-foxy
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# choices=['ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'ur16e']))
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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robot_description_config = xacro.process_file(
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robot_description_path,
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mappings={
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"joint_limit_params": joint_limits_params,
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"kinematics_params": kinematics_params,
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"physical_params": physical_params,
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"visual_params": visual_params,
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"safety_limits": str(safety_limits).lower(),
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"safety_pos_margin": str(safety_pos_margin),
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"safety_k_position": str(safety_k_position),
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"name": robot_name.replace("_", ""),
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},
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"runtime_config_package",
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default_value="ur_bringup",
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description='Package with the controller\'s configuration in "config" folder. \
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Usually the argument is not set, it enables use of a custom setup.',
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ur_description",
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description="Description package with robot URDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="ur.urdf.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value='""',
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description="Prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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robot_description = {"robot_description": robot_description_config.toxml()}
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# Initialize Arguments
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ur_type = LaunchConfiguration("ur_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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controllers_file = LaunchConfiguration("controllers_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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prefix = LaunchConfiguration("prefix")
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joint_limit_params = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
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)
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kinematics_params = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", ur_type, "default_kinematics.yaml"]
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)
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physical_params = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", ur_type, "physical_parameters.yaml"]
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)
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visual_params = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", ur_type, "visual_parameters.yaml"]
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)
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script_filename = PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "resources", "ros_control.urscript"]
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)
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input_recipe_filename = PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
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)
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output_recipe_filename = PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "resources", "rtde_output_recipe.txt"]
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)
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robot_description_semantic_config = load_file(
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robot_name + "_moveit_config", "config/" + robot_name.replace("_", "") + ".srdf"
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
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" ",
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"joint_limit_params:=",
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joint_limit_params,
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" ",
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"kinematics_params:=",
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kinematics_params,
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" ",
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"physical_params:=",
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physical_params,
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" ",
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"visual_params:=",
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visual_params,
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" ",
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"safety_limits:=",
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safety_limits,
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" ",
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"safety_pos_margin:=",
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safety_pos_margin,
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" ",
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"safety_k_position:=",
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safety_k_position,
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" ",
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"name:=",
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ur_type,
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" ",
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"script_filename:=",
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script_filename,
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" ",
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"input_recipe_filename:=",
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input_recipe_filename,
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" ",
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"output_recipe_filename:=",
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output_recipe_filename,
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" ",
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"prefix:=",
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prefix,
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_config}
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robot_description = {"robot_description": robot_description_content}
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# We do not have a robot connected, so publish fake joint states
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joint_state_pub_node = Node(package="joint_state_publisher", executable="joint_state_publisher")
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(description_package), "rviz", "view_robot.rviz"]
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)
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# Publishes tf's for the robot
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robot_state_pub_node = Node(
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joint_state_publisher_node = Node(
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package="joint_state_publisher_gui",
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executable="joint_state_publisher_gui",
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)
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="screen",
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output="both",
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parameters=[robot_description],
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)
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# RViz
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rviz_config_file = (
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get_package_share_directory("ur_description") + "/config/rviz/view_robot.rviz"
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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parameters=[robot_description, robot_description_semantic],
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)
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return LaunchDescription([rviz_node, robot_state_pub_node, joint_state_pub_node])
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nodes_to_start = [
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joint_state_publisher_node,
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robot_state_publisher_node,
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rviz_node,
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]
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return LaunchDescription(declared_arguments + nodes_to_start)

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