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Migrate to rsp.launch structure
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@fmauch
fmauch committed Apr 18, 2024
1 parent 66a6a10 commit d0fae59
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359 changes: 359 additions & 0 deletions my_robot_cell/my_robot_cell_control/launch/rsp.launch.py
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# Copyright (c) 2024 FZI Forschungszentrum Informatik
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * 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.
#
# * 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.

#
# Author: Felix Exner

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import (
Command,
FindExecutable,
LaunchConfiguration,
PathJoinSubstitution,
)


def generate_launch_description():
ur_type = LaunchConfiguration("ur_type")
robot_ip = LaunchConfiguration("robot_ip")

use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")

headless_mode = LaunchConfiguration("headless_mode")

kinematics_params = LaunchConfiguration("kinematics_params_file")

robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution([
FindPackageShare("my_robot_cell_control"),
"urdf",
"my_robot_cell_controlled.urdf.xacro"]),
" ",
"robot_ip:=",
robot_ip,
" ",
"ur_type:=",
ur_type,
" ",
"use_mock_hardware:=",
use_mock_hardware,
" ",
"mock_sensor_commands:=",
mock_sensor_commands,
" ",
"headless_mode:=",
headless_mode,
]
)
robot_description = {"robot_description": robot_description_content}

declared_arguments = []
# UR specific arguments
declared_arguments.append(
DeclareLaunchArgument(
"ur_type",
description="Typo/series of used UR robot.",
choices=[
"ur3",
"ur3e",
"ur5",
"ur5e",
"ur10",
"ur10e",
"ur16e",
"ur20",
"ur30",
],
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_ip", description="IP address by which the robot can be reached."
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_limits",
default_value="true",
description="Enables the safety limits controller if true.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_pos_margin",
default_value="0.15",
description="The margin to lower and upper limits in the safety controller.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_k_position",
default_value="20",
description="k-position factor in the safety controller.",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"runtime_config_package",
default_value="ur_robot_driver",
description='Package with the controller\'s configuration in "config" folder. '
"Usually the argument is not set, it enables use of a custom setup.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="ur_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="ur_description",
description="Description package with robot URDF/XACRO files. Usually the argument "
"is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="ur.urdf.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tf_prefix",
default_value="",
description="tf_prefix of the joint names, useful for "
"multi-robot setup. If changed, also joint names in the controllers' configuration "
"have to be updated.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_mock_hardware",
default_value="false",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"mock_sensor_commands",
default_value="false",
description="Enable mock command interfaces for sensors used for simple simulations. "
"Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"headless_mode",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controller_spawner_timeout",
default_value="10",
description="Timeout used when spawning controllers.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="scaled_joint_trajectory_controller",
description="Initially loaded robot controller.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"activate_joint_controller",
default_value="true",
description="Activate loaded joint controller.",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_dashboard_client",
default_value="true",
description="Launch Dashboard Client?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_tool_communication",
default_value="false",
description="Only available for e series!",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_parity",
default_value="0",
description="Parity configuration for serial communication. Only effective, if "
"use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_baud_rate",
default_value="115200",
description="Baud rate configuration for serial communication. Only effective, if "
"use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_stop_bits",
default_value="1",
description="Stop bits configuration for serial communication. Only effective, if "
"use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_rx_idle_chars",
default_value="1.5",
description="RX idle chars configuration for serial communication. Only effective, "
"if use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_tx_idle_chars",
default_value="3.5",
description="TX idle chars configuration for serial communication. Only effective, "
"if use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_device_name",
default_value="/tmp/ttyUR",
description="File descriptor that will be generated for the tool communication device. "
"The user has be be allowed to write to this location. "
"Only effective, if use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_tcp_port",
default_value="54321",
description="Remote port that will be used for bridging the tool's serial device. "
"Only effective, if use_tool_communication is set to True.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tool_voltage",
default_value="0", # 0 being a conservative value that won't destroy anything
description="Tool voltage that will be setup.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"reverse_ip",
default_value="0.0.0.0",
description="IP that will be used for the robot controller to communicate back to the driver.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"script_command_port",
default_value="50004",
description="Port that will be opened to forward URScript commands to the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"reverse_port",
default_value="50001",
description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"script_sender_port",
default_value="50002",
description="The driver will offer an interface to query the external_control URScript on this port.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"trajectory_port",
default_value="50003",
description="Port that will be opened for trajectory control.",
)
)

return LaunchDescription(
declared_arguments
+ [
Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
),
# Node(
# package="controller_manager",
# executable="ros2_control_node",
# parameters=[
# update_rate_config_file,
# ParameterFile(initial_joint_controllers, allow_substs=True),
# ],
# output="screen",
# ),
# Node(
# package="controller_manager",
# executable="spawner",
# arguments=[
# "--controller-manager",
# "/controller_manager",
# "--controller-manager-timeout",
# controller_spawner_timeout,
# "joint_state_broadcaster"
# ]
# )
]
)

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