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Succesfully runned simulation with ros2 control plugin and controllers
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src/meldog_simple_description/launch/meldog_gazebo_sim_ros2_control.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| # Copyright 2020 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import IncludeLaunchDescription, ExecuteProcess | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, RegisterEventHandler | ||
| from launch.conditions import IfCondition | ||
| from launch.event_handlers import OnProcessExit, OnProcessStart | ||
| from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution | ||
|
|
||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
|
|
||
| from launch_ros.parameter_descriptions import ParameterValue | ||
|
|
||
| from launch_ros.actions import Node | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
|
|
||
| # Declare arguments | ||
| declared_arguments = [] | ||
|
|
||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "package", | ||
| default_value="meldog_simple_description", | ||
| ) | ||
| ) | ||
|
|
||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "urdf_file", | ||
| default_value="meldog_gazebo.urdf.xacro", | ||
| ) | ||
| ) | ||
|
|
||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "controller_type_file", | ||
| default_value="joint_trajectory_controller_test.yaml", | ||
| ) | ||
| ) | ||
|
|
||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "controller_type", | ||
| default_value="joint_trajectory_controller", | ||
| ) | ||
| ) | ||
|
|
||
| # Initialize Arguments | ||
| package_name = LaunchConfiguration("package") | ||
| urdf_file = LaunchConfiguration("urdf_file") | ||
| controller_file = LaunchConfiguration("controller_type_file") | ||
| controller_type = LaunchConfiguration("controller_type") | ||
|
|
||
|
|
||
| # Get URDF via xacro | ||
| robot_description_content = ParameterValue( | ||
| Command( | ||
| [ | ||
| PathJoinSubstitution([FindExecutable(name="xacro")]), | ||
| " ", | ||
| PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare(package_name), | ||
| "description", | ||
| urdf_file, | ||
| ] | ||
| ), | ||
| ] | ||
| ), value_type=str) | ||
|
|
||
| # Set up dictionary parameters: | ||
| robot_description = {"robot_description": robot_description_content} | ||
| use_sim_time = {"use_sim_time": True} | ||
|
|
||
| # Load world for gazebo sim | ||
| world = PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare(package_name), | ||
| "worlds", | ||
| 'empty.world' | ||
| ] | ||
| ) | ||
|
|
||
| # robot_state_publisher node: | ||
| robot_state_pub_node = Node( | ||
| package="robot_state_publisher", | ||
| executable="robot_state_publisher", | ||
| output="both", | ||
| parameters=[robot_description, use_sim_time], | ||
| ) | ||
|
|
||
| # Spawn Meldog: | ||
| spawn_entity = Node(package='ros_gz_sim', executable='create', | ||
| arguments=['-topic', 'robot_description', | ||
| '-name', 'Meldog'], | ||
| output='screen') | ||
|
|
||
| # Load joint_state_broadcaster | ||
| load_joint_state_broadcaster = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| # Load joint_trajectory_controller | ||
| load_joint_effort_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', controller_type], | ||
| output='screen' | ||
| ) | ||
|
|
||
| # Bridge between ros2 and Ignition Gazebo | ||
| ros2_gazebo_sim_bridge = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [os.path.join(get_package_share_directory('ros_ign_gazebo'), | ||
| 'launch', 'ign_gazebo.launch.py')]), | ||
| launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]) | ||
|
|
||
| nodes = [ | ||
| ros2_gazebo_sim_bridge, | ||
|
|
||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=spawn_entity, | ||
| on_exit=[load_joint_state_broadcaster], | ||
| ) | ||
| ), | ||
|
|
||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action= load_joint_state_broadcaster, | ||
| on_exit=[load_joint_effort_controller], | ||
| ) | ||
| ), | ||
|
|
||
| robot_state_pub_node, | ||
| spawn_entity, | ||
| ] | ||
| return LaunchDescription(declared_arguments + nodes) |
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