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Cleanup launch files and add example for .xml launch file. #266

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Apr 2, 2024
Merged

Cleanup launch files and add example for .xml launch file. #266

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40 changes: 16 additions & 24 deletions gz_ros2_control_demos/launch/cart_example_effort.launch.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,52 +12,45 @@
# 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 DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration

from launch_ros.actions import Node

import xacro
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

gz_ros2_control_demos_path = os.path.join(
get_package_share_directory('gz_ros2_control_demos'))

xacro_file = os.path.join(gz_ros2_control_demos_path,
'urdf',
'test_cart_effort.xacro.urdf')

doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml()}
# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("gz_ros2_control_demos"), "urdf", "test_cart_effort.xacro.urdf"]
),
]
)
robot_description = {"robot_description": robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params]
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
parameters=[{'string': doc.toxml(),
'name': 'cart',
'allow_renaming': True}],
arguments=["-topic", "robot_description", "-name", "cart", "-allow_renaming", "true"],
)

load_joint_state_broadcaster = ExecuteProcess(
Expand All @@ -75,8 +68,7 @@ def generate_launch_description():
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
Expand Down
40 changes: 16 additions & 24 deletions gz_ros2_control_demos/launch/cart_example_position.launch.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,52 +12,45 @@
# 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 DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration

from launch_ros.actions import Node

import xacro
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

gz_ros2_control_demos_path = os.path.join(
get_package_share_directory('gz_ros2_control_demos'))

xacro_file = os.path.join(gz_ros2_control_demos_path,
'urdf',
'test_cart_position.xacro.urdf')

doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml()}
# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("gz_ros2_control_demos"), "urdf", "test_cart_position.xacro.urdf"]
),
]
)
robot_description = {"robot_description": robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params]
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
parameters=[{'string': doc.toxml(),
'name': 'cart',
'allow_renaming': True}],
arguments=["-topic", "robot_description", "-name", "cart", "-allow_renaming", "true"],
)

load_joint_state_broadcaster = ExecuteProcess(
Expand All @@ -76,8 +69,7 @@ def generate_launch_description():
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
Expand Down
54 changes: 17 additions & 37 deletions gz_ros2_control_demos/launch/cart_example_velocity.launch.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,52 +12,45 @@
# 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 DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration

from launch_ros.actions import Node

import xacro
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

gz_ros2_control_demos_path = os.path.join(
get_package_share_directory('gz_ros2_control_demos'))

xacro_file = os.path.join(gz_ros2_control_demos_path,
'urdf',
'test_cart_velocity.xacro.urdf')

doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml()}
# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("gz_ros2_control_demos"), "urdf", "test_cart_velocity.xacro.urdf"]
),
]
)
robot_description = {"robot_description": robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params]
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
parameters=[{'string': doc.toxml(),
'name': 'cart',
'allow_renaming': True}],
arguments=["-topic", "robot_description", "-name", "cart", "-allow_renaming", "true"],
)

load_joint_state_broadcaster = ExecuteProcess(
Expand All @@ -71,19 +64,12 @@ def generate_launch_description():
output='screen'
)

load_imu_sensor_broadcaster = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'imu_sensor_broadcaster'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=gz_spawn_entity,
Expand All @@ -96,12 +82,6 @@ def generate_launch_description():
on_exit=[load_joint_velocity_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_velocity_controller,
on_exit=[load_imu_sensor_broadcaster],
)
),
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
Expand Down
56 changes: 19 additions & 37 deletions gz_ros2_control_demos/launch/diff_drive_example.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,56 +12,48 @@
# 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 DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration

from launch_ros.actions import Node

import xacro
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

gz_ros2_control_demos_path = os.path.join(
get_package_share_directory('gz_ros2_control_demos'))

xacro_file = os.path.join(gz_ros2_control_demos_path,
'urdf',
'test_diff_drive.xacro.urdf')

doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml(), 'use_sim_time': use_sim_time}

print(params)
# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("gz_ros2_control_demos"), "urdf", "test_diff_drive.xacro.urdf"]
),
]
)
robot_description = {"robot_description": robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params],
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
parameters=[{'string': doc.toxml(),
'name': 'diff_drive',
'allow_renaming': True}],
arguments=["-topic", "robot_description", "-name", "diff_drive", "-allow_renaming", "true"],
)

load_joint_state_controller = ExecuteProcess(
load_joint_state_broadcaster = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'joint_state_broadcaster'],
output='screen'
Expand All @@ -73,31 +65,21 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
output='screen'
)

return LaunchDescription([
bridge,
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=gz_spawn_entity,
on_exit=[load_joint_state_controller],
on_exit=[load_joint_state_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
target_action=load_joint_state_broadcaster,
on_exit=[load_diff_drive_controller],
)
),
Expand Down
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