Даниил Грабарь
ec40feb6f2
Добавлена папка `supported`, в которой будут размещаться файлы запуска подключаемые в основном файле. Переименован контроллер на `iiwa_arm_controller` Добавлен пакет `iiwa_bringup.utils`, в котором будут распологаться все вспомогательные функции, для папки `launch` В файле `README`, были добавлены подсказки для автора
51 lines
1.6 KiB
Python
51 lines
1.6 KiB
Python
from launch_ros.actions import Node
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from webots_ros2_driver.urdf_spawner import URDFSpawner
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from launch import LaunchDescription
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from launch.actions import OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from iiwa_bringup.utils import converter
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def _setup_controllers(context, *args, **kwargs):
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model_path = LaunchConfiguration('model').perform(context)
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robot_name = LaunchConfiguration('robot_name').perform(context)
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transform = LaunchConfiguration('transform').perform(context)
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rotation = LaunchConfiguration('rotation').perform(context)
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timer = LaunchConfiguration('controller_timer').perform(context)
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robot_description = converter.load_robot_description(model_path=model_path,
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robot_name=robot_name)
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tmo = ['--controller-manager-timeout', str(timer)]
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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': False}],
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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': False}],
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)
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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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return [jsb, jtc, spawner_urdf]
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def generate_launch_description():
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return LaunchDescription([
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OpaqueFunction(function=_setup_controllers)
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]) |