Refactor structure of launch files reduce duplication when adding new simulations

README.md

@@ -1,68 +1,98 @@
-# AR4
+# AR4 ROS 2 Software
 
-The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop size industrial robot that is a free, open plan low cost robot. This repository contains the necessary ROS 2 packages to plan and execute motions in Gazebo sim. It provides the arm description, simulation controllers and Moveit configuration needed to command it.
+The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop size industrial robot that is a free, open plan low cost robot. This repository contains the necessary ROS 2 packages to plan and execute motions in Gazebo sim.
+
+It provides a ROS 2 set of packages to be able to control the AR4 robot both in real hardware and
+a number of different simulation environments.
 
 <p align="center">
   <img src="docs/ar4.png" width=500 />
 </p>
 
 ## Package Summary
 
-- [`ar4_gazebo`](./ar4_gazebo): Gazebo simulation for the ar4 arm.
-- [`ar4_description`](./ar4_description): Contains the URDF of the arm.
-- [`ar4_hardware_interface`](./ar4_hardware_interface): Contains the software required to connect the computer with the real robot.
-- [`ar4_moveit_config`](./ar4_moveit_config): Contains configuration and launch files to run and command the arm.
+These are the main packages providing launch files for the different use cases:
 
-## Installation
+- [`ar4_description`](./ar4_description): Contains the platform-agnostic parts of the URDF robot description.
+- [`ar4_gazebo_bringup`](./ar4_gazebo): Launch a Gazebo Sim simulation of AR4.
+- [`ar4_isaac_bringup`](./ar4_gazebo): **Not yet available.** Launch an Isaac Sim simulation of AR4.
+- [`ar4_mujoco_bringup`](./ar4_gazebo): **Not yet available.** Launch a Mujoco-based simulation of AR4.
+- [`ar4_realbot_bringup`](./ar4_gazebo): Launch drivers and control software for the real AR4 robot.
 
-### Prerequisites
 
-It is a requirement to have `docker engine` with the `docker compose plugin` already installed in the host machine.
+```mermaid
+graph TD
+      A[**ar4_moveit_config** <br> main.launch.py]
+      B[**ar4_common** <br> main.launch.py]
+      C[**ar4_description** <br> main.launch.py]
+      D[**ar4_gazebo_sim** <br> main.launch.py]
+      E[**ar4_gazebo_bringup** <br> main.launch.py]
+      F[**ar4_hardware_interface** <br> main.launch.py]
+      G[**ar4_realbot_bringup** <br> main.launch.py]
 
-See: [Docker Installation Guide](https://docs.docker.com/engine/install/ubuntu/)
+      A --> F
+      C --> F
 
-### Running the dev container
+      H[**ar4_isaac_bringup** <br> main.launch.py <br> ...not yet available...]
+      I[**...** <br> main.launch.py]
 
-Build and run the container for the use case you are interested in
+      B --> H
+      I --> H
 
-#### Gazebo
-```bash
-./docker/run.sh -s ar4_gazebo
-```
+      J[**ar4_mujoco_bringup** <br> main.launch.py <br> ...not yet available...]
+      K[**...** <br> main.launch.py]
 
-#### Hardware
+      B --> J
+      K --> J
 
-* [Hardware Interface Instructions](ar4_hardware_interface/README.md)
 
-## Build the packages
+      A --> B
 
-Build the packages
+      C --> D
+      C --> A
 
-```
-colcon build
+      B --> E
+      D --> E
+
+      B --> G
+      F --> G
 ```
 
-Source the built packages
+## Installation
 
-```
-source install/setup.bash
-```
+### Prerequisites
 
----
+It is a requirement to have `docker engine` with the `docker compose plugin` already installed in the host machine.
 
-### Launch
+See: [Docker Installation Guide](https://docs.docker.com/engine/install/ubuntu/)
 
-After building and sourcing the packages, run the specific launch file for your use case:
+### Running the dev container
+
+Build and run the container for the use case you are interested in
 
 #### Gazebo
 
+Launch the docker container with the following command:
+
+```bash
+./docker/run.sh -s ar4_gazebo
 ```
-ros2 launch ar4_gazebo moveit.launch.py
+
+Then build and launch Gazebo bringup launch file:
+
+```bash
+colcon build --symlink-install --packages-up-to ar4_gazebo_bringup \
+ && source install/setup.bash \
+ && ros2 launch ar4_gazebo_bringup main.launch.py
 ```
 
 ![Ar4 Gazebo](docs/ar4.png)
 
----
+
+#### Hardware
+
+* [Hardware Interface Instructions](ar4_hardware_interface/README.md)
+
 
 ### Controlling the AR4 with MoveIt
 

ar4_common/CMakeLists.txt

@@ -0,0 +1,38 @@
+# BSD 3-Clause License
+#
+# Copyright 2025 Ekumen, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+cmake_minimum_required(VERSION 3.7)
+project(ar4_common)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
+
+ament_package()

ar4_gazebo/launch/gz_ros_bridge.launch.py → ar4_common/launch/main.launch.py

@@ -31,31 +31,28 @@
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
-import os
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
-    pkg_ar4_gazebo = get_package_share_directory('ar4_gazebo')
-    bridge_config_file_path = os.path.join(pkg_ar4_gazebo, 'config', 'bridge.yaml')
-
-    bridge_process = ExecuteProcess(
-        cmd=[
-            'ros2',
-            'run',
-            'ros_gz_bridge',
-            'parameter_bridge',
-            '--ros-args',
-            '-p',
-            f'config_file:={bridge_config_file_path}',
-        ],
-        shell=True,
-        output='screen',
+    moveit_planning_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ar4_moveit_config"),
+                    "launch",
+                    "demo.launch.py",
+                ]
+            )
+        )
     )
 
-    ld = LaunchDescription()
-    ld.add_action(bridge_process)
-
-    return ld
+    return LaunchDescription(
+        [
+            moveit_planning_include,
+        ]
+    )

ar4_common/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>ar4_common</name>
+  <version>0.0.1</version>
+  <description>Package containint launcher for HAL-independent parts of the stack</description>
+  <author email="santiago.mendez@creativa77.com.ar">Santiago Lopez mendez</author>
+  <maintainer email="steven.desvars@creativa77.com.ar">Steven Desvars</maintainer>
+  <maintainer email="santiago.mendez@creativa77.com.ar">Santiago Lopez mendez</maintainer>
+  <maintainer email="glpuga@ekumenlabs.com">Gerardo Puga</maintainer>
+  <license file="LICENSE">BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>ar4_moveit_config</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ar4_description/CMakeLists.txt

@@ -7,6 +7,7 @@ install(
   DIRECTORY config
             launch
             meshes
+            rviz
             urdf
   DESTINATION share/${PROJECT_NAME}/)
 

ar4_description/launch/display.launch.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python3
+
+# Copyright 2024 Gerardo Puga
+#
+# 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.
+
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    rviz_config_filepath = PathJoinSubstitution(
+        [
+            FindPackageShare('ar4_description'),
+            "rviz",
+            "display.rviz",
+        ]
+    )
+
+    urdf_launch_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare('urdf_launch'),
+                    "launch",
+                    "display.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "urdf_package": "ar4_description",
+            "urdf_package_path": "urdf/ar4_in_world.urdf.xacro",
+            "rviz_config": rviz_config_filepath,
+            "jsp_gui": "true",
+        }.items(),
+    )
+
+    return LaunchDescription(
+        [
+            urdf_launch_include,
+        ]
+    )