rrbot.launch.py

# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
#
# 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.


fromlaunchimportLaunchDescription
fromlaunch.actionsimportDeclareLaunchArgument, RegisterEventHandler
fromlaunch.conditionsimportIfCondition
fromlaunch.event_handlersimportOnProcessExit
fromlaunch.substitutionsimportCommand, FindExecutable, LaunchConfiguration, PathJoinSubstitution

fromlaunch_ros.actionsimportNode
fromlaunch_ros.substitutionsimportFindPackageShare


defgenerate_launch_description():
# Declare arguments
declared_arguments= []
declared_arguments.append(
DeclareLaunchArgument(
"gui",
default_value="true",
description="Start RViz2 automatically with this launch file.",
 )
 )

# Initialize Arguments
gui=LaunchConfiguration("gui")

# Get URDF via xacro
robot_description_content=Command(
 [
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
 [
FindPackageShare("ros2_control_demo_example_1"),
"urdf",
"rrbot.urdf.xacro",
 ]
 ),
 ]
 )
robot_description= {"robot_description": robot_description_content}

robot_controllers=PathJoinSubstitution(
 [
FindPackageShare("ros2_control_demo_example_1"),
"config",
"rrbot_controllers.yaml",
 ]
 )
rviz_config_file=PathJoinSubstitution(
 [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
 )

control_node=Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
 )
robot_state_pub_node=Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
 )
rviz_node=Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
condition=IfCondition(gui),
 )

joint_state_broadcaster_spawner=Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster"],
 )

robot_controller_spawner=Node(
package="controller_manager",
executable="spawner",
arguments=["forward_position_controller", "--param-file", robot_controllers],
 )

# Delay rviz start after `joint_state_broadcaster`
delay_rviz_after_joint_state_broadcaster_spawner=RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[rviz_node],
 )
 )

# Delay start of joint_state_broadcaster after `robot_controller`
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
delay_joint_state_broadcaster_after_robot_controller_spawner=RegisterEventHandler(
event_handler=OnProcessExit(
target_action=robot_controller_spawner,
on_exit=[joint_state_broadcaster_spawner],
 )
 )

nodes= [
control_node,
robot_state_pub_node,
robot_controller_spawner,
delay_rviz_after_joint_state_broadcaster_spawner,
delay_joint_state_broadcaster_after_robot_controller_spawner,
 ]

returnLaunchDescription(declared_arguments+nodes)