Restore ur_control.launch.py

Author: destogl

ur_bringup/launch/ur_control.launch.py

@@ -30,6 +30,11 @@ 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",
@@ -119,6 +124,7 @@ 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")
@@ -161,6 +167,9 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
             " ",
+            "robot_ip:=",
+            robot_ip,
+            " ",
             "joint_limit_params:=",
             joint_limit_params,
             " ",
@@ -197,17 +206,32 @@ 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"]
     )
 
-    joint_state_publisher_node = Node(
-        package="joint_state_publisher_gui",
-        executable="joint_state_publisher_gui",
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output={
+            "stdout": "screen",
+            "stderr": "screen",
+        },
     )
 
     robot_state_publisher_node = Node(
@@ -219,17 +243,60 @@ def generate_launch_description():
 
     rviz_node = Node(
         package="rviz2",
-        condition=IfCondition(LaunchConfiguration("launch_rviz")),
+        condition=IfCondition(launch_rviz),
         executable="rviz2",
         name="rviz2",
         output="log",
         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 = [
-        joint_state_publisher_node,
+        control_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)

ur_bringup/launch/ur_moveit.launch.py

@@ -349,7 +349,7 @@ def generate_launch_description():
     )
     rviz_node = Node(
         package="rviz2",
-        condition=IfCondition(LaunchConfiguration("launch_rviz")),
+        condition=IfCondition(launch_rviz),
         executable="rviz2",
         name="rviz2_moveit",
         output="log",