142 lines
4.8 KiB
Python
142 lines
4.8 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch.event_handlers import OnProcessExit
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from launch.actions import RegisterEventHandler
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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 ament_index_python.packages import get_package_share_directory
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from pathlib import Path
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from xml.etree import ElementTree
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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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fri_cycle_ms = int(LaunchConfiguration("fri_cycle_ms").perform(context))
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if not 1 <= fri_cycle_ms <= 100:
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raise ValueError("fri_cycle_ms must be within the FRI 1.16 range 1..100 ms")
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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["robot_ip"] = LaunchConfiguration("robot_ip").perform(context)
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xacro_args["fri_port"] = LaunchConfiguration("fri_port").perform(context)
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xacro_args["fri_cycle_ms"] = str(fri_cycle_ms)
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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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manifest = Path(get_package_share_directory("controller_manager")) / "package.xml"
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version = ElementTree.parse(manifest).findtext("version", "0.0.0")
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if tuple(int(part) for part in version.split(".")[:3]) < (4, 48, 0):
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raise RuntimeError(
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"FRI synchronization requires controller_manager >= 4.48.0 (ROS 2 Jazzy); "
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f"installed: {version}"
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)
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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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{"hardware_synchronization.expect_blocking_read_write": True},
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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 = 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"] + cm,
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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 [
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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("robot_ip", default_value="192.170.10.2"),
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DeclareLaunchArgument("fri_port", default_value="30200"),
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OpaqueFunction(function=_setup_controllers),
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])
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