From cb849b521a1aec43d2d61bc640b637f07ecc2b09 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Galambos=20Mih=C3=A1ly?= <galambos.mihaly@hallgato.ppke.hu>
Date: Thu, 21 Apr 2022 13:55:47 +0200
Subject: [PATCH] Separate simulation and description bringup
---
.../launch/description.launch.py | 51 +++++++++++++++++++
.../launch/simulation.launch.py | 39 ++++----------
2 files changed, 62 insertions(+), 28 deletions(-)
create mode 100644 src/hollander_bringup/launch/description.launch.py
diff --git a/src/hollander_bringup/launch/description.launch.py b/src/hollander_bringup/launch/description.launch.py
new file mode 100644
index 0000000..020a9fc
--- /dev/null
+++ b/src/hollander_bringup/launch/description.launch.py
@@ -0,0 +1,51 @@
+import os
+
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+ # Get package dirs
+ package_dir = get_package_share_directory('hollander_description')
+
+ # Default values
+ default_model_path = os.path.join(package_dir, 'src/description/rollende_hollander.urdf')
+
+ configurable_parameters = [
+ {'name': 'model', 'default': default_model_path, 'description': 'Absolute path to robot urdf file'},
+ {'name': 'namespace', 'default': 'hollander', 'description': 'Namespace to avoide conflicts'},
+ {'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
+ ]
+
+ def declare_configurable_parameters(parameters):
+ return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
+
+
+ """ NODES """
+ robot_state_publisher_node = Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ namespace=LaunchConfiguration("namespace"),
+ parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}],
+ arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
+ emulate_tty=True,
+ )
+
+ joint_state_publisher_node = Node(
+ package='joint_state_publisher',
+ executable='joint_state_publisher',
+ name='joint_state_publisher',
+ namespace=LaunchConfiguration("namespace"),
+ arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
+ emulate_tty=True,
+ )
+
+ return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
+ robot_state_publisher_node,
+ joint_state_publisher_node,
+ ])
\ No newline at end of file
diff --git a/src/hollander_bringup/launch/simulation.launch.py b/src/hollander_bringup/launch/simulation.launch.py
index d6155f3..76d7168 100644
--- a/src/hollander_bringup/launch/simulation.launch.py
+++ b/src/hollander_bringup/launch/simulation.launch.py
@@ -1,25 +1,24 @@
import os
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch_ros.actions import Node
-from launch.substitutions import Command, LaunchConfiguration
+from launch import LaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
# Get package dirs
launch_dir = get_package_share_directory('hollander_bringup')
- package_dir = get_package_share_directory('hollander_description')
# Default values
- default_model_path = os.path.join(package_dir, 'src/description/rollende_hollander.urdf')
default_rviz_config_path = os.path.join(launch_dir, 'rviz/urdf_config.rviz')
# Parameters
configurable_parameters = [
- {'name': 'model', 'default': default_model_path, 'description': 'Absolute path to robot urdf file'},
{'name': 'need_rviz', 'default': 'False', 'description': 'Whether launch or not rviz'},
{'name': 'rvizconfig', 'default': default_rviz_config_path, 'description': 'Absolute path to rviz config file'},
{'name': 'use_sim_time', 'default': 'True', 'description': 'Flag to enable use_sim_time'},
@@ -28,19 +27,12 @@ def generate_launch_description():
def declare_configurable_parameters(parameters):
return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
- """ NODES """
- robot_state_publisher_node = Node(
- package='robot_state_publisher',
- executable='robot_state_publisher',
- parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
- )
-
- joint_state_publisher_node = Node(
- package='joint_state_publisher',
- executable='joint_state_publisher',
- name='joint_state_publisher',
+ description = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('hollander_bringup'), 'launch', 'description.launch.py')),
+ condition=IfCondition(LaunchConfiguration('need_description'))
)
+ """ NODES """
rviz_node = Node(
package='rviz2',
executable='rviz2',
@@ -56,21 +48,12 @@ def generate_launch_description():
output='screen'
)
- robot_localization_node = Node(
- package='robot_localization',
- executable='ekf_node',
- name='ekf_filter_node',
- output='screen',
- parameters=[os.path.join(launch_dir, 'config/simulation.ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}]
- )
-
return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'], output='screen'),
- robot_state_publisher_node,
- joint_state_publisher_node,
+ description,
+
spawn_entity,
- robot_localization_node,
rviz_node,
])
--
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