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Merged
rafal-gorecki merged 1 commit into from
Dec 1, 2025
Merged

Backport #149: Add config directory #152

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10 changes: 3 additions & 7 deletions README.md
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Expand Up @@ -98,10 +98,8 @@ ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

| 🤖 | 🖥️ | Argument | Description <br/> **_Type:_** `Default` |
| --- | --- | ------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ✅ | ✅ | `components_config` | Specify file which contains components. These components will be included in URDF. Available options can be found in [husarion_components_description](https://github.com/husarion/husarion_components_description/blob/ros2/README.md#available-urdf-sensors) <br/> **_string_:** [`components.yaml`](rosbot_description/config/components.yaml) |
| ✅ | ✅ | `configuration` | Specify configuration packages. Currently only ROSbot XL has available packages. Packages: `basic`, `telepresence`, `autonomy`, `manipulation`, `manipulation_pro`. <br/> **_string:_** 'basic' |
| ✅ | ✅ | `controller_config` | Path to controller configuration file. <br/> **_string:_** [`{robot_model}/{mecanum/diff}_drive_controller.yaml`](rosbot_controller/config/) |
| ✅ | ✅ | `joy_config` | The file path to the configuration YAML file for the `teleop_twist_joy` node. <br/> **_string:_** [`joy.yaml`](rosbot_bringup/config/joy.yaml) |
| ✅ | ✅ | `config_dir` | Path to the common configuration directory. You can create such common configuration directory with `ros2 run rosbot_utils create_config_dir {directory}`. <br/> **_string:_** `""` |
| ✅ | ✅ | `configuration` | Specify configuration packages. Currently only ROSbot XL has available packages. Packages: `basic`, `telepresence`, `autonomy`, `manipulation`, `manipulation_pro`, `custom`. <br/> **_string:_** 'basic' |
| ✅ | ✅ | `joy_vel` | The topic name to which velocity commands will be published. <br/> **_string:_** `cmd_vel` |
| ✅ | ✅ | `mecanum` | Whether to use mecanum drive controller, otherwise use diff drive. <br/> **_bool:_** `False` |
| ✅ | ✅ | `namespace` | Add namespace to all launched nodes. <br/> **_string:_** `env(ROBOT_NAMESPACE)` |
Expand All @@ -111,7 +109,6 @@ ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>
| ✅ | ❌ | `port` | **ROSbot XL only.** UDP4 port for micro-ROS agent. <br/> **_string:_** `8888` |
| ✅ | ❌ | `serial_baudrate` | ROSbot only. Baud rate for serial communication. <br/> **_string:_** `576000` |
| ✅ | ❌ | `serial_port` | ROSbot only. Serial port for micro-ROS agent. <br/> **_string:_** `/dev/ttySERIAL` |
| ✅ | ❌ | `fastrtps_profiles` | Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only setup. <br/> **_string:_** [`microros_localhost_only.xml`](./rosbot_bringup/config/microros_localhost_only.xml) |
| ❌ | ✅ | `gz_gui` | Run simulation with specific GUI layout. <br/> **_string:_** [`teleop.config`](https://github.com/husarion/husarion_gz_worlds/blob/main/config/teleop.config) |
| ❌ | ✅ | `gz_headless_mode` | Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the number of calculations. <br/> **_bool:_** `False` |
| ❌ | ✅ | `gz_log_level` | Adjust the level of console output. <br/> **_int:_** `1` (choices: `0`, `1`, `2`, `3`, `4`) |
Expand All @@ -125,8 +122,7 @@ ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>
| ❌ | ✅ | `yaw` | Initial robot 'yaw' orientation. <br/> **_float:_** `0.0` |

> [!TIP]
>
> To read the arguments for individual packages, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch rosbot_bringup bringup.launch.py ​​-s`)
> To read the arguments for individual launch files, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch rosbot_bringup bringup.launch.py ​​-s`)

## 🕹️ Demo

Expand Down
33 changes: 22 additions & 11 deletions rosbot_bringup/launch/microros.launch.py
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Expand Up @@ -25,6 +25,7 @@
EnvironmentVariable,
LaunchConfiguration,
PathJoinSubstitution,
PythonExpression,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
Expand All @@ -39,12 +40,27 @@ def generate_microros_agent_node(context, *args, **kwargs):
SetEnvironmentVariable(name="XRCE_DOMAIN_ID_OVERRIDE", value=ros_domain_id)
)

fastrtps_profiles = LaunchConfiguration("fastrtps_profiles").perform(context)
config_dir = LaunchConfiguration("config_dir").perform(context)
port = LaunchConfiguration("port").perform(context)
robot_model = LaunchConfiguration("robot_model").perform(context)
serial_baudrate = LaunchConfiguration("serial_baudrate").perform(context)
serial_port = LaunchConfiguration("serial_port").perform(context)

config_rosbot_bringup_dir = PythonExpression(
[
"'",
config_dir,
"/rosbot_bringup' if '",
config_dir,
"' else '",
FindPackageShare("rosbot_bringup"),
"'",
]
)
fastrtps_profiles = PathJoinSubstitution(
[config_rosbot_bringup_dir, "config", "microros_localhost_only.xml"]
)

micoros_communication_args = {
"rosbot": ["serial", "-b", serial_baudrate, "-D", serial_port],
"rosbot_xl": ["udp4", "--port", port],
Expand Down Expand Up @@ -78,15 +94,10 @@ def generate_microros_agent_node(context, *args, **kwargs):


def generate_launch_description():
default_fastrtps_profiles = PathJoinSubstitution(
[FindPackageShare("rosbot_bringup"), "config", "microros_localhost_only.xml"]
)
declare_fastrtps_profiles_arg = DeclareLaunchArgument(
"fastrtps_profiles",
default_value=default_fastrtps_profiles,
description=(
"Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only setup"
),
declare_config_dir_arg = DeclareLaunchArgument(
"config_dir",
default_value="",
description="Path to the common configuration directory. You can create such common configuration directory with `ros2 run rosbot_utils create_config_dir {directory}`.",
)

declare_port_arg = DeclareLaunchArgument(
Expand Down Expand Up @@ -116,7 +127,7 @@ def generate_launch_description():

return LaunchDescription(
[
declare_fastrtps_profiles_arg,
declare_config_dir_arg,
declare_port_arg,
declare_robot_model_arg,
declare_serial_baudrate_arg,
Expand Down
36 changes: 27 additions & 9 deletions rosbot_controller/launch/controller.launch.py
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Expand Up @@ -40,14 +40,25 @@


def generate_launch_description():
config_dir = LaunchConfiguration("config_dir")
configuration = LaunchConfiguration("configuration")
controller_config = LaunchConfiguration("controller_config")
manipulator_serial_port = LaunchConfiguration("manipulator_serial_port")
mecanum = LaunchConfiguration("mecanum")
namespace = LaunchConfiguration("namespace")
robot_model = LaunchConfiguration("robot_model")
use_sim = LaunchConfiguration("use_sim", default="False")

config_search_path = PythonExpression(
[
"'",
config_dir,
"/rosbot_controller' if '",
config_dir,
"' else '",
FindPackageShare("rosbot_controller"),
"'",
]
)
base_controller_prefix = PythonExpression(
["'mecanum_drive' if ", mecanum, " else 'diff_drive'"]
)
Expand All @@ -56,14 +67,14 @@ def generate_launch_description():
controller_config_file = PythonExpression(
["'", base_controller_prefix, "' + '_' + '", manipulator_prefix, "' + 'controller.yaml'"]
)
default_controller_config = PathJoinSubstitution(
[FindPackageShare("rosbot_controller"), "config", robot_model, controller_config_file]
controller_config = PathJoinSubstitution(
[config_search_path, "config", robot_model, controller_config_file]
)

declare_controller_config_arg = DeclareLaunchArgument(
"controller_config",
default_value=default_controller_config,
description="Path to controller configuration file.",
declare_config_dir_arg = DeclareLaunchArgument(
"config_dir",
default_value="",
description="Path to the common configuration directory. You can create such common configuration directory with `ros2 run rosbot_utils create_config_dir {directory}`.",
)

declare_configuration_arg = DeclareLaunchArgument(
Expand All @@ -72,7 +83,14 @@ def generate_launch_description():
description=(
"Specify configuration packages. Currently only ROSbot XL has available packages."
),
choices=["basic", "telepresence", "autonomy", "manipulation", "manipulation_pro"],
choices=[
"basic",
"telepresence",
"autonomy",
"manipulation",
"manipulation_pro",
"custom",
],
)

default_manipulator_serial_port = find_device_port("0403", "6014", "/dev/ttyUSB0")
Expand Down Expand Up @@ -215,11 +233,11 @@ def check_if_log_is_fatal(event):

return LaunchDescription(
[
declare_config_dir_arg,
declare_configuration_arg,
declare_manipulator_serial_port_arg,
declare_robot_model_arg,
declare_mecanum_arg, # mecanum base on robot_model arg
declare_controller_config_arg, # controler_config base on mecanum and robot_model arg
load_urdf,
control_node,
delayed_controllers,
Expand Down
2 changes: 2 additions & 0 deletions rosbot_description/config/rosbot/custom.yaml
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@@ -0,0 +1,2 @@
---
components: []
2 changes: 2 additions & 0 deletions rosbot_description/config/rosbot_xl/custom.yaml
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@@ -0,0 +1,2 @@
---
components: []
45 changes: 29 additions & 16 deletions rosbot_description/launch/load_urdf.launch.py
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Expand Up @@ -14,7 +14,10 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os

import yaml
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.conditions import IfCondition
Expand All @@ -39,7 +42,7 @@ def contains_cam_component(yaml_fil):


def launch_setup(context, *args, **kwargs):
components_config = LaunchConfiguration("components_config").perform(context)
config_dir = LaunchConfiguration("config_dir").perform(context)
configuration = LaunchConfiguration("configuration").perform(context)
controller_config = LaunchConfiguration("controller_config", default="").perform(context)
manipulator_serial_port = LaunchConfiguration(
Expand All @@ -51,7 +54,17 @@ def launch_setup(context, *args, **kwargs):
robot_model = LaunchConfiguration("robot_model").perform(context)
use_sim = LaunchConfiguration("use_sim", default="False").perform(context)

if robot_model != "rosbot_xl" and configuration != "basic":
config_rosbot_description_dir = (
config_dir + "/rosbot_description"
if config_dir
else get_package_share_directory("rosbot_description")
)
components_file = f"{configuration}.yaml"
components_config = os.path.join(
config_rosbot_description_dir, "config", robot_model, components_file
)

if robot_model != "rosbot_xl" and configuration not in ("basic", "custom"):
raise ValueError(
"Invalid configuration and robot model combination. Only 'rosbot_xl' has configuration options."
)
Expand Down Expand Up @@ -112,19 +125,12 @@ def launch_setup(context, *args, **kwargs):


def generate_launch_description():
configuration = LaunchConfiguration("configuration")
robot_model = LaunchConfiguration("robot_model")
components_file = PythonExpression(["'", configuration, "' + '.yaml'"])
default_components_config = PathJoinSubstitution(
[FindPackageShare("rosbot_description"), "config", robot_model, components_file]
)
declare_components_config_arg = DeclareLaunchArgument(
"components_config",
default_value=default_components_config,
description=(
"Specify file which contains components. These components will be included in URDF. "
"Available options can be found in [husarion_components_description](https://github.com/husarion/husarion_components_description/blob/jazzy/README.md#available-urdf-sensors)"
),

declare_config_dir_arg = DeclareLaunchArgument(
"config_dir",
default_value="",
description="Path to the common configuration directory. You can create such common configuration directory with `ros2 run rosbot_utils create_config_dir {directory}`.",
)

declare_configuration_arg = DeclareLaunchArgument(
Expand All @@ -133,7 +139,14 @@ def generate_launch_description():
description=(
"Specify configuration packages. Currently only ROSbot XL has available packages"
),
choices=["basic", "telepresence", "autonomy", "manipulation", "manipulation_pro"],
choices=[
"basic",
"telepresence",
"autonomy",
"manipulation",
"manipulation_pro",
"custom",
],
)

default_mecanum_value = PythonExpression(["'", robot_model, "' == 'rosbot_xl'"])
Expand All @@ -155,9 +168,9 @@ def generate_launch_description():

return LaunchDescription(
[
declare_config_dir_arg,
declare_configuration_arg,
declare_robot_model_arg,
declare_components_config_arg, # depends on configuration and robot model
declare_mecanum_arg, # mecanum base on robot_model arg
publish_robot_description,
]
Expand Down
29 changes: 26 additions & 3 deletions rosbot_gazebo/launch/simulation.launch.py
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Expand Up @@ -16,13 +16,25 @@
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.substitutions import (
LaunchConfiguration,
PathJoinSubstitution,
PythonExpression,
)
from launch_ros.actions import Node, SetParameter, SetRemap
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
config_dir = LaunchConfiguration("config_dir")
rviz = LaunchConfiguration("rviz")

declare_config_dir_arg = DeclareLaunchArgument(
"config_dir",
default_value="",
description="Path to the common configuration directory. You can create such common configuration directory with `ros2 run rosbot_utils create_config_dir {directory}`.",
)

declare_rviz_arg = DeclareLaunchArgument(
"rviz",
default_value="True",
Expand All @@ -39,9 +51,19 @@ def generate_launch_description():
launch_arguments={"gz_log_level": "1"}.items(),
)

gz_bridge_config = PathJoinSubstitution(
[FindPackageShare("rosbot_gazebo"), "config", "gz_bridge.yaml"]
config_rosbot_gazebo_dir = PythonExpression(
[
"'",
config_dir,
"/rosbot_gazebo' if '",
config_dir,
"' else '",
FindPackageShare("rosbot_gazebo"),
"'",
]
)

gz_bridge_config = PathJoinSubstitution([config_rosbot_gazebo_dir, "config", "gz_bridge.yaml"])
gz_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
Expand Down Expand Up @@ -77,6 +99,7 @@ def generate_launch_description():

return LaunchDescription(
[
declare_config_dir_arg,
declare_rviz_arg,
SetRemap("/diagnostics", "diagnostics"),
SetRemap("/tf", "tf"),
Expand Down
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