Add launch file for local testing

Author: JohnTGZ

flowstate/aic_flowstate_ros_bridge/CMakeLists.txt

@@ -106,12 +106,13 @@ install(FILES
   DESTINATION share/${PROJECT_NAME}/${SERVICE_NAME}
 )
 
-install(DIRECTORY config proto
+install(DIRECTORY config proto launch
   DESTINATION share/${PROJECT_NAME}
 )
 
 install(PROGRAMS
   scripts/test_robot_control_bridge.py
+  scripts/mock_pub.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

flowstate/aic_flowstate_ros_bridge/aic_flowstate_ros_bridge.proto

@@ -18,9 +18,10 @@ message SensorPublisherConfig {
   bool enable_force_torque_topic = 2;
   string robot_joint_state_topic = 3;
   string force_torque_topic = 4;
-  string force_torque_sensor_frame_id = 5;
-  string robot_controller_instance = 6;
-  bool throttle_robot_state_topic = 7;
+  string robot_base_frame_id = 5;
+  string force_torque_sensor_frame_id = 6;
+  string robot_controller_instance = 7;
+  bool throttle_robot_state_topic = 8;
 }
 
 message FlowstateRosBridgeConfig {

flowstate/aic_flowstate_ros_bridge/launch/aic_flowstate_ros_bridge_launch.py

@@ -0,0 +1,116 @@
+# Copyright 2025 Intrinsic Innovation LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import LifecycleNode
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "service_tunnel",
+                default_value="localhost:17080",
+                description="Service tunnel address",
+            ),
+            DeclareLaunchArgument(
+                "flowstate_zenoh_router_address",
+                default_value="tcp/localhost:17447",
+                description="Flowstate Zenoh router address",
+            ),
+            DeclareLaunchArgument(
+                "autostart",
+                default_value="true",
+                description="Automatically start the bridge",
+            ),
+            DeclareLaunchArgument(
+                "server_address",
+                default_value="localhost:17080",
+                description="Address of the robot controller application layer server",
+            ),
+            DeclareLaunchArgument(
+                "instance",
+                default_value="robot_controller",
+                description="Name of the robot controller service/resource instance",
+            ),
+            DeclareLaunchArgument(
+                "part_name", default_value="arm", description="Part to control"
+            ),
+            DeclareLaunchArgument(
+                "robot_joint_state_topic", default_value="/joint_states", description=""
+            ),
+            DeclareLaunchArgument(
+                "force_torque_topic",
+                default_value="/fts_broadcaster/wrench",
+                description="",
+            ),
+            DeclareLaunchArgument(
+                "robot_base_frame_id",
+                default_value="robot/robot/base_link",
+                description="",
+            ),
+            DeclareLaunchArgument(
+                "force_torque_sensor_frame_id",
+                default_value="force_torque_sensor/force_torque_sensor/AtiForceTorqueSensor",
+                description="",
+            ),
+            LifecycleNode(
+                package="flowstate_ros_bridge",
+                executable="flowstate_ros_bridge",
+                name="flowstate_ros_bridge",
+                namespace="",
+                output="screen",
+                parameters=[
+                    {
+                        "autostart": True,
+                        "service_tunnel": LaunchConfiguration("service_tunnel"),
+                        "flowstate_zenoh_router_address": LaunchConfiguration(
+                            "flowstate_zenoh_router_address"
+                        ),
+                        "bridge_plugins": [
+                            "flowstate_ros_bridge::ExecutiveBridge",
+                            "flowstate_ros_bridge::WorldBridge",
+                            "flowstate_ros_bridge::RobotControlBridge",
+                        ],
+                        "server_address": LaunchConfiguration("server_address"),
+                        "instance": LaunchConfiguration("instance"),
+                        "part_name": LaunchConfiguration("part_name"),
+                        "robot_joint_state_topic": LaunchConfiguration(
+                            "robot_joint_state_topic"
+                        ),
+                        "force_torque_topic": LaunchConfiguration("force_torque_topic"),
+                        "robot_base_frame_id": LaunchConfiguration(
+                            "robot_base_frame_id"
+                        ),
+                        "force_torque_sensor_frame_id": LaunchConfiguration(
+                            "force_torque_sensor_frame_id"
+                        ),
+                        "task_settings_file": os.path.join(
+                            "config",
+                            "default_task_settings.pbtxt",
+                        ),
+                        "joint_task_settings_file": os.path.join(
+                            "config",
+                            "default_joint_task_settings.pbtxt",
+                        ),
+                    }
+                ],
+            ),
+        ]
+    )