146 lines
4.8 KiB
Python
146 lines
4.8 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from webots_ros2_driver.urdf_spawner import URDFSpawner
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from iiwa_utils import converter
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def _setup_controllers(context, *args, **kwargs):
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robot_name = LaunchConfiguration("robot_name").perform(context)
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description = LaunchConfiguration("description").perform(context)
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transform = LaunchConfiguration("transform").perform(context)
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rotation = LaunchConfiguration("rotation").perform(context)
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initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
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controller_timer = LaunchConfiguration("controller_timer").perform(context)
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controller_path = LaunchConfiguration("controller_path").perform(context)
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simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
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controller = LaunchConfiguration("controller").perform(context) # "jtc" | "forward"
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fri_cycle_ms = int(LaunchConfiguration("fri_cycle_ms").perform(context))
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joint_position_tau = LaunchConfiguration("joint_position_tau").perform(context)
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joint_velocity_tau = LaunchConfiguration("joint_velocity_tau").perform(context)
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update_rate = 1000 // fri_cycle_ms
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xacro_args = {"initial_positions_file": initial_positions_file}
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if simulate:
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xacro_args["simulate"] = "true"
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else:
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xacro_args["joint_position_tau"] = joint_position_tau
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xacro_args["joint_velocity_tau"] = joint_velocity_tau
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robot_description = converter.load_robot_description(
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model_path=description,
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robot_name=robot_name,
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xacro_args=xacro_args,
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)
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# Webots
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if simulate:
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tmo = ["--controller-manager-timeout", str(controller_timer)]
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spawner_urdf = URDFSpawner(
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name=robot_name,
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robot_description=robot_description,
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translation=transform,
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rotation=rotation,
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)
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jsb = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=["joint_state_broadcaster"] + tmo,
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parameters=[{"use_sim_time": True}],
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)
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jtc = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=["iiwa_arm_controller"] + tmo,
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parameters=[{"use_sim_time": True}],
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)
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jtc_after_jsb = RegisterEventHandler(
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OnProcessExit(
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target_action=jsb,
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on_exit=[jtc],
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)
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)
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return [spawner_urdf, jsb, jtc_after_jsb]
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# FRI
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else:
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ros2_control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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output="screen",
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parameters=[
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{"robot_description": robot_description},
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controller_path,
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{"update_rate": update_rate},
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],
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)
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jsb = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"joint_state_broadcaster",
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"--controller-manager", "/controller_manager",
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],
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)
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cm = ["--controller-manager", "/controller_manager"]
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jtc_args = ["iiwa_arm_controller"] + cm
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if controller == "forward":
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jtc_args += ["--inactive"]
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# ForwardCommandController: активен если controller=forward, иначе --inactive
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forward_args = ["forward_position_controller"] + cm
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if controller != "forward":
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forward_args += ["--inactive"]
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jtc = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=jtc_args,
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)
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forward_controller = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=forward_args,
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)
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jtc_after_jsb = RegisterEventHandler(
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OnProcessExit(
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target_action=jsb,
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on_exit=[jtc, forward_controller],
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)
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)
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return [
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ros2_control_node,
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jsb,
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jtc_after_jsb,
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]
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def generate_launch_description():
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return LaunchDescription([
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DeclareLaunchArgument("fri_cycle_ms", default_value="5"),
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DeclareLaunchArgument("joint_position_tau", default_value="0.04"),
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DeclareLaunchArgument("joint_velocity_tau", default_value="0.01"),
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DeclareLaunchArgument("controller", default_value="jtc"),
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OpaqueFunction(function=_setup_controllers),
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])
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