From cec015fb76a47710c8d5b2609d470c198212d6f9 Mon Sep 17 00:00:00 2001 From: BOOTCFG <139364969+BOOTCFG@users.noreply.github.com> Date: Fri, 8 Nov 2024 14:02:39 +0000 Subject: [PATCH] create overwrite_robot_description.launch --- .../overwrite_robot_description.launch.py | 187 ++++++++++++++++++ 1 file changed, 187 insertions(+) create mode 100644 panther_description/launch/overwrite_robot_description.launch.py diff --git a/panther_description/launch/overwrite_robot_description.launch.py b/panther_description/launch/overwrite_robot_description.launch.py new file mode 100644 index 00000000..a07ab597 --- /dev/null +++ b/panther_description/launch/overwrite_robot_description.launch.py @@ -0,0 +1,187 @@ +#!/usr/bin/env python3 + +# Copyright 2020 ros2_control Development Team +# Copyright 2024 Husarion sp. z o.o. +# +# 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 launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess +from launch.conditions import IfCondition +from launch.substitutions import ( + Command, + EnvironmentVariable, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, + PythonExpression, +) +from launch_ros.actions import Node, SetParameter +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + add_wheel_joints = LaunchConfiguration("add_wheel_joints") + declared_add_wheel_joints_arg = DeclareLaunchArgument( + "add_wheel_joints", + default_value="True", + description="Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information.", + choices=["True", "true", "False", "false"], + ) + + battery_config_path = LaunchConfiguration("battery_config_path") + declare_battery_config_path_arg = DeclareLaunchArgument( + "battery_config_path", + description=( + "Path to the Ignition LinearBatteryPlugin configuration file. " + "This configuration is intended for use in simulations only." + ), + default_value="", + ) + + components_config_path = LaunchConfiguration("components_config_path") + declare_components_config_path_arg = DeclareLaunchArgument( + "components_config_path", + default_value=PathJoinSubstitution( + [FindPackageShare("panther_description"), "config", "components.yaml"] + ), + description=( + "Additional components configuration file. Components described in this file " + "are dynamically included in Panther's urdf." + "Panther options are described here " + "https://husarion.com/manuals/panther/panther-options/" + ), + ) + + wheel_type = LaunchConfiguration("wheel_type") + controller_config_path = LaunchConfiguration("controller_config_path") + declare_controller_config_path_arg = DeclareLaunchArgument( + "controller_config_path", + default_value=PathJoinSubstitution( + [ + FindPackageShare("husarion_ugv_controller"), + "config", + PythonExpression(["'", wheel_type, "_controller.yaml'"]), + ] + ), + description=( + "Path to controller configuration file. By default, it is located in" + " 'husarion_ugv_controller/config/{wheel_type}_controller.yaml'. You can also specify" + " the path to your custom controller configuration file here. " + ), + ) + + namespace = LaunchConfiguration("namespace") + declare_namespace_arg = DeclareLaunchArgument( + "namespace", + default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""), + description="Add namespace to all launched nodes.", + ) + + use_sim = LaunchConfiguration("use_sim") + declare_use_sim_arg = DeclareLaunchArgument( + "use_sim", + default_value="False", + description="Whether simulation is used.", + choices=["True", "true", "False", "false"], + ) + + wheel_config_path = LaunchConfiguration("wheel_config_path") + declare_wheel_config_path_arg = DeclareLaunchArgument( + "wheel_config_path", + default_value=PathJoinSubstitution( + [ + FindPackageShare("panther_description"), + "config", + PythonExpression(["'", wheel_type, ".yaml'"]), + ] + ), + description=( + "Path to wheel configuration file. By default, it is located in " + "'panther_description/config/{wheel_type}.yaml'. You can also specify the path " + "to your custom wheel configuration file here. " + ), + ) + + declare_wheel_type_arg = DeclareLaunchArgument( + "wheel_type", + default_value="WH01", + description=( + "Specify the wheel type. If the selected wheel type is not 'custom', " + "the 'wheel_config_path' and 'controller_config_path' arguments will be " + "automatically adjusted and can be omitted." + ), + choices=["WH01", "WH02", "WH04", "custom"], + ) + + # Get URDF via xacro + imu_pos_x = os.environ.get("ROBOT_IMU_LOCALIZATION_X", "0.168") + imu_pos_y = os.environ.get("ROBOT_IMU_LOCALIZATION_Y", "0.028") + imu_pos_z = os.environ.get("ROBOT_IMU_LOCALIZATION_Z", "0.083") + imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14") + imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57") + imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0") + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("panther_description"), "urdf", "panther.urdf.xacro"] + ), + " use_sim:=", + use_sim, + " wheel_config_file:=", + wheel_config_path, + " controller_config_file:=", + controller_config_path, + " battery_config_file:=", + battery_config_path, + " imu_xyz:=", + f"'{imu_pos_x} {imu_pos_y} {imu_pos_z}'", + " imu_rpy:=", + f"'{imu_rot_r} {imu_rot_p} {imu_rot_y}'", + " namespace:=", + namespace, + " components_config_path:=", + components_config_path, + ] + ) + + set_robot_description = ExecuteProcess( + cmd=[ + "ros2", + "param", + "set", + "/panther/robot_state_publisher", + "robot_description", + robot_description_content, + ], + output="screen", + ) + + actions = [ + declared_add_wheel_joints_arg, + declare_battery_config_path_arg, + declare_components_config_path_arg, + declare_wheel_type_arg, # wheel_type is used by controller_config_path + declare_controller_config_path_arg, + declare_namespace_arg, + declare_use_sim_arg, + declare_wheel_config_path_arg, + SetParameter(name="use_sim_time", value=use_sim), + set_robot_description, + ] + + return LaunchDescription(actions)