123 lines
4.0 KiB
Python
123 lines
4.0 KiB
Python
# Copyright 2020 ros2_control Development Team
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, RegisterEventHandler
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from launch.conditions import IfCondition
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"gui",
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default_value="true",
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description="Start RViz2 automatically with this launch file.",
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)
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)
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# Initialize Arguments
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gui = LaunchConfiguration("gui")
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# Get URDF via xacro
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare("hoverboard_driver"), "urdf", "diffbot.urdf.xacro"]
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),
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare("hoverboard_driver"),
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"config",
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"hoverboard_controllers.yaml",
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]
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)
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# rviz_config_file = PathJoinSubstitution(
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# [FindPackageShare("ros2_control_demo_description"), "diffbot/rviz", "diffbot.rviz"]
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# )
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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remappings=[
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("/hoverboard_base_controller/cmd_vel_unstamped", "/cmd_vel"),
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],
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)
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#rviz_node = Node(
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# package="rviz2",
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# executable="rviz2",
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# name="rviz2",
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# output="log",
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# arguments=["-d", rviz_config_file],
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# condition=IfCondition(gui),
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#)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["hoverboard_base_controller", "--controller-manager", "/controller_manager"],
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)
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# Delay rviz start after `joint_state_broadcaster`
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#delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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# event_handler=OnProcessExit(
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# target_action=joint_state_broadcaster_spawner,
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# on_exit=[rviz_node],
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# )
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#)
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# Delay start of robot_controller after `joint_state_broadcaster`
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delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[robot_controller_spawner],
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)
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)
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nodes = [
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control_node,
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robot_state_pub_node,
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joint_state_broadcaster_spawner,
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# delay_rviz_after_joint_state_broadcaster_spawner,
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delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
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]
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return LaunchDescription(declared_arguments + nodes)
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