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| 1 | +# Copyright 2020 ros2_control Development Team |
| 2 | +# |
| 3 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +# you may not use this file except in compliance with the License. |
| 5 | +# You may obtain a copy of the License at |
| 6 | +# |
| 7 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +# |
| 9 | +# Unless required by applicable law or agreed to in writing, software |
| 10 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +# See the License for the specific language governing permissions and |
| 13 | +# limitations under the License. |
| 14 | + |
| 15 | +from launch import LaunchDescription |
| 16 | +from launch.actions import DeclareLaunchArgument, RegisterEventHandler |
| 17 | +from launch.conditions import IfCondition, UnlessCondition |
| 18 | +from launch.event_handlers import OnProcessExit |
| 19 | +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration |
| 20 | + |
| 21 | +from launch_ros.actions import Node |
| 22 | +from launch_ros.substitutions import FindPackageShare |
| 23 | + |
| 24 | + |
| 25 | +def generate_launch_description(): |
| 26 | + # Declare arguments |
| 27 | + declared_arguments = [] |
| 28 | + declared_arguments.append( |
| 29 | + DeclareLaunchArgument( |
| 30 | + "gui", |
| 31 | + default_value="true", |
| 32 | + description="Start RViz2 automatically with this launch file.", |
| 33 | + ) |
| 34 | + ) |
| 35 | + declared_arguments.append( |
| 36 | + DeclareLaunchArgument( |
| 37 | + "remap_odometry_tf", |
| 38 | + default_value="false", |
| 39 | + description="Remap odometry TF from the steering controller to the TF tree.", |
| 40 | + ) |
| 41 | + ) |
| 42 | + |
| 43 | + # Initialize Arguments |
| 44 | + gui = LaunchConfiguration("gui") |
| 45 | + remap_odometry_tf = LaunchConfiguration("remap_odometry_tf") |
| 46 | + |
| 47 | + # Get URDF via xacro |
| 48 | + robot_description_content = Command( |
| 49 | + [ |
| 50 | + PathJoinSubstitution([FindExecutable(name="xacro")]), |
| 51 | + " ", |
| 52 | + PathJoinSubstitution( |
| 53 | + [FindPackageShare("ros2_control_demo_example_11"), "urdf", "carlikebot.urdf.xacro"] |
| 54 | + ), |
| 55 | + ] |
| 56 | + ) |
| 57 | + robot_description = {"robot_description": robot_description_content} |
| 58 | + |
| 59 | + robot_controllers = PathJoinSubstitution( |
| 60 | + [ |
| 61 | + FindPackageShare("ros2_control_demo_example_11"), |
| 62 | + "config", |
| 63 | + "carlikebot_controllers.yaml", |
| 64 | + ] |
| 65 | + ) |
| 66 | + rviz_config_file = PathJoinSubstitution( |
| 67 | + [ |
| 68 | + FindPackageShare("ros2_control_demo_description"), |
| 69 | + "carlikebot/rviz", |
| 70 | + "carlikebot.rviz", |
| 71 | + ] |
| 72 | + ) |
| 73 | + |
| 74 | + # the steering controller libraries by default publish odometry on a separate topic than /tf |
| 75 | + control_node_remapped = Node( |
| 76 | + package="controller_manager", |
| 77 | + executable="ros2_control_node", |
| 78 | + parameters=[robot_controllers], |
| 79 | + output="both", |
| 80 | + remappings=[ |
| 81 | + ("~/robot_description", "/robot_description"), |
| 82 | + ("/bicycle_steering_controller/tf_odometry", "/tf"), |
| 83 | + ], |
| 84 | + condition=IfCondition(remap_odometry_tf), |
| 85 | + ) |
| 86 | + control_node = Node( |
| 87 | + package="controller_manager", |
| 88 | + executable="ros2_control_node", |
| 89 | + parameters=[robot_controllers], |
| 90 | + output="both", |
| 91 | + remappings=[ |
| 92 | + ("~/robot_description", "/robot_description"), |
| 93 | + ], |
| 94 | + condition=UnlessCondition(remap_odometry_tf), |
| 95 | + ) |
| 96 | + robot_state_pub_bicycle_node = Node( |
| 97 | + package="robot_state_publisher", |
| 98 | + executable="robot_state_publisher", |
| 99 | + output="both", |
| 100 | + parameters=[robot_description], |
| 101 | + remappings=[ |
| 102 | + ("~/robot_description", "/robot_description"), |
| 103 | + ], |
| 104 | + ) |
| 105 | + rviz_node = Node( |
| 106 | + package="rviz2", |
| 107 | + executable="rviz2", |
| 108 | + name="rviz2", |
| 109 | + output="log", |
| 110 | + arguments=["-d", rviz_config_file], |
| 111 | + condition=IfCondition(gui), |
| 112 | + ) |
| 113 | + |
| 114 | + joint_state_broadcaster_spawner = Node( |
| 115 | + package="controller_manager", |
| 116 | + executable="spawner", |
| 117 | + arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], |
| 118 | + ) |
| 119 | + |
| 120 | + robot_bicycle_controller_spawner = Node( |
| 121 | + package="controller_manager", |
| 122 | + executable="spawner", |
| 123 | + arguments=["bicycle_steering_controller", "--controller-manager", "/controller_manager"], |
| 124 | + ) |
| 125 | + |
| 126 | + # Delay rviz start after `joint_state_broadcaster` |
| 127 | + delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( |
| 128 | + event_handler=OnProcessExit( |
| 129 | + target_action=joint_state_broadcaster_spawner, |
| 130 | + on_exit=[rviz_node], |
| 131 | + ) |
| 132 | + ) |
| 133 | + |
| 134 | + # Delay start of robot_controller after `joint_state_broadcaster` |
| 135 | + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( |
| 136 | + event_handler=OnProcessExit( |
| 137 | + target_action=joint_state_broadcaster_spawner, |
| 138 | + on_exit=[robot_bicycle_controller_spawner], |
| 139 | + ) |
| 140 | + ) |
| 141 | + |
| 142 | + nodes = [ |
| 143 | + control_node, |
| 144 | + control_node_remapped, |
| 145 | + robot_state_pub_bicycle_node, |
| 146 | + joint_state_broadcaster_spawner, |
| 147 | + delay_rviz_after_joint_state_broadcaster_spawner, |
| 148 | + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, |
| 149 | + ] |
| 150 | + |
| 151 | + return LaunchDescription(declared_arguments + nodes) |
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