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philipchurchleyphilipchurchley
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Cleaned up launch file example_1/rrbot.launch.py (#959)
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‎example_1/bringup/launch/rrbot.launch.py‎

Lines changed: 65 additions & 97 deletions
Original file line numberDiff line numberDiff line change
@@ -14,111 +14,79 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, RegisterEventHandler
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.substitutions import Command, LaunchConfiguration, PathSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"gui",
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default_value="true",
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description="Start RViz2 automatically with this launch file.",
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)
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)
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# Initialize Arguments
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gui = LaunchConfiguration("gui")
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# Get URDF via xacro
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robot_description_content = Command(
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return LaunchDescription(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare("ros2_control_demo_example_1"),
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"urdf",
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"rrbot.urdf.xacro",
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]
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DeclareLaunchArgument(
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"gui",
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default_value="true",
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description="Start RViz2 automatically with this launch file.",
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),
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# Control node
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Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[
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PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
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/ "config"
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/ "rrbot_controllers.yaml"
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],
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output="both",
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),
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# robot_state_publisher with robot_description from xacro
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Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[
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{
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"robot_description": Command(
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[
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"xacro",
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" ",
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PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
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/ "urdf"
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/ "rrbot.urdf.xacro",
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]
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)
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}
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],
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),
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Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=[
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"-d",
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PathSubstitution(FindPackageShare("ros2_control_demo_description"))
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/ "rrbot/rviz/rrbot.rviz",
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],
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condition=IfCondition(LaunchConfiguration("gui")),
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),
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Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster"],
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),
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Node(
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package="controller_manager",
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executable="spawner",
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arguments=[
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"forward_position_controller",
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"--param-file",
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PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
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/ "config"
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/ "rrbot_controllers.yaml",
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],
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),
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare("ros2_control_demo_example_1"),
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"config",
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"rrbot_controllers.yaml",
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]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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condition=IfCondition(gui),
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["forward_position_controller", "--param-file", robot_controllers],
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)
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# Delay rviz start after `joint_state_broadcaster`
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delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[rviz_node],
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)
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)
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# Delay start of robot_controller after `joint_state_broadcaster`
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delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[robot_controller_spawner],
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)
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)
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nodes = [
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control_node,
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robot_state_pub_node,
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joint_state_broadcaster_spawner,
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delay_rviz_after_joint_state_broadcaster_spawner,
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delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
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]
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return LaunchDescription(declared_arguments + nodes)

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