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Launch Files

1. mtms_bringup.launch.py

This launch file initializes the MTM (Master Tool Manipulator) robot simulation with ROS 2 controllers, suitable for simulation and integration with other ROS 2 nodes.

Purpose

  • Launches the robot description and state publisher.
  • Starts the ROS 2 control node with the specified controllers.
  • Spawns the joint state broadcaster and position controllers.
  • Runs a custom joint controller node for the MTM.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state (joint states and transforms) based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.
      • publish_robot_description: True
      • use_sim_time: True

  2. Controller Manager (ros2_control_node)

    • Manages the controllers for the robot using the ROS 2 control framework.
    • Parameters:

  3. Joint State Broadcaster (joint_state_broadcaster)

    • Publishes the state of all joints in the robot.
    • Loaded via the spawner executable.
    • Parameters:
      • use_sim_time: True

  4. Forward Position Controller (forward_position_controller)

    • Controls the positions of the robot's joints.
    • Loaded via the spawner executable.

  5. Custom Joint Controller (mtms_joint_controller)

    • A custom node specific to controlling the MTM joints.
    • Parameters:
      • use_sim_time: True

  6. RViz 2 (rviz2)

    • Visualizes the robot in a 3D environment.
    • Launches after the joint state broadcaster has started.
    • Uses a pre-configured RViz configuration file mtm_description.rviz.

Configuration Files

  • Robot Description (mtms.urdf.xacro)

    • Located at urdf/mtms.urdf.xacro.
    • Defines the robot's physical and visual properties using Xacro macros.

  • Controller Configuration (mtms.controllers.yaml)

Usage

To launch the MTM robot with controllers:

ros2 launch mtm_description mtms_bringup.launch.py

File Contents

2. view_robot.launch.py

This launch file allows you to visualize the MTM robot and manually manipulate its joints using a GUI.

Purpose

  • Launches the robot description and state publisher.
  • Starts the Joint State Publisher GUI for manual joint control.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.

  2. Joint State Publisher GUI (joint_state_publisher_gui)

    • Provides a graphical interface to manipulate the robot's joint states.
    • Allows you to adjust joint angles and see the effect in real-time.

  3. RViz 2 (rviz2)

    • Visualizes the robot in a 3D environment.
    • Uses the pre-configured RViz configuration file mtm_description.rviz.

Configuration Files

Usage

To visualize the MTM robot and manipulate joints via GUI:

ros2 launch mtm_description view_robot.launch.py

Additional Notes

  • Both launch files use the same URDF file (mtms.urdf.xacro) and RViz configuration file (mtm_description.rviz).
  • The mtms_bringup.launch.py file is more comprehensive, including controllers and a custom joint controller, while view_robot.launch.py is focused on visualization and manual joint manipulation.
  • The package includes mesh files (in both .dae and .stl formats) for various robot components, which are likely referenced in the URDF file for visualization.
  • There are additional resources and documentation in the resources and urdf directories that may be helpful for understanding the robot's structure and configuration.