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Add bringup package for the real hardware
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ar4_hardware_interface/launch/ar4_hardware.launch.py renamed to ar4_hardware_interface/launch/main.launch.py

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‎ar4_realbot_bringup/CMakeLists.txt‎

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# BSD 3-Clause License
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#
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# Copyright 2025 Ekumen, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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cmake_minimum_required(VERSION 3.7)
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project(ar4_realbot_bringup)
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
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ament_package()

‎ar4_realbot_bringup/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2025, Ekumen Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎ar4_realbot_bringup/README.md‎

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# Description
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A Gazebo simulation of the AR4 Package.
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To build the package, run
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`colcon build`
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To run the simulation, source and run
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`ros2 launch ar4_realbot_bringup ar4_sim.launch.py`
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#### Launch file arguments
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- 'rsp':
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- Run [`robot state publisher`](https://github.com/ros/robot_state_publisher) node. (default: 'false')
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- 'rviz':
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- Start RViz. (default: 'false')

‎ar4_realbot_bringup/launch/main.launch.py‎

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# BSD 3-Clause License
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#
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# Copyright 2025 Ekumen, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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"""launch file for integrating Gazebo with MoveIt for the AR4 robot."""
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from launch import LaunchDescription
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from launch_ros.actions import SetParameter
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from launch_ros.substitutions import FindPackageShare
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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def generate_launch_description():
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"""Launch the AR4 robot in Gazebo and MoveIt."""
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use_sim_time_param = SetParameter(name="use_sim_time", value=True)
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common_stack_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ar4_common"),
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"launch",
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"main.launch.py",
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]
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)
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)
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)
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real_hardware_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ar4_hardware_interface"),
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"launch",
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"main.launch.py",
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]
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)
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)
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)
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return LaunchDescription(
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[
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use_sim_time_param,
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common_stack_include,
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real_hardware_include,
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]
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)

‎ar4_realbot_bringup/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>ar4_realbot_bringup</name>
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<version>0.0.1</version>
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<description>Launch the software stack for the realbot AR4.</description>
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<author email="glpuga@ekumenlabs.com">Gerardo Puga</author>
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<maintainer email="glpuga@ekumenlabs.com">Gerardo Puga</maintainer>
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<license file="LICENSE">BSD-3-Clause</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>ar4_common</exec_depend>
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<exec_depend>ar4_hardware_interface</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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