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launchファイルをリファクタリング #172

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138 changes: 72 additions & 66 deletions sciurus17_control/launch/sciurus17_control.launch.py
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Expand Up @@ -17,17 +17,14 @@
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from sciurus17_description.robot_description_loader import RobotDescriptionLoader


def generate_launch_description():
config_file_path = os.path.join(
get_package_share_directory('sciurus17_control'),
'config',
'manipulator_config.yaml'
get_package_share_directory('sciurus17_control'), 'config', 'manipulator_config.yaml'
)

description_loader = RobotDescriptionLoader()
Expand All @@ -40,73 +37,82 @@ def generate_launch_description():
'loaded_description',
default_value=description_loader.load(),
description='Set robot_description text. \
It is recommended to use RobotDescriptionLoader() in sciurus17_description.'
It is recommended to use RobotDescriptionLoader() in sciurus17_description.',
)

sciurus17_controllers = os.path.join(
get_package_share_directory('sciurus17_control'),
'config',
'sciurus17_controllers.yaml'
)
get_package_share_directory('sciurus17_control'), 'config', 'sciurus17_controllers.yaml'
)

controller_manager = Node(
package='controller_manager',
executable='ros2_control_node',
parameters=[{'robot_description': LaunchConfiguration('loaded_description')},
sciurus17_controllers],
output='screen',
)

spawn_joint_state_broadcaster = ExecuteProcess(
cmd=['ros2 run controller_manager spawner joint_state_broadcaster'],
shell=True,
output='screen',
)

spawn_right_arm_controller = ExecuteProcess(
cmd=['ros2 run controller_manager spawner right_arm_controller'],
shell=True,
output='screen',
)

spawn_right_gripper_controller = ExecuteProcess(
cmd=['ros2 run controller_manager spawner right_gripper_controller'],
shell=True,
output='screen',
)

spawn_left_arm_controller = ExecuteProcess(
cmd=['ros2 run controller_manager spawner left_arm_controller'],
shell=True,
output='screen',
)

spawn_left_gripper_controller = ExecuteProcess(
cmd=['ros2 run controller_manager spawner left_gripper_controller'],
shell=True,
output='screen',
)

spawn_neck_controller = ExecuteProcess(
cmd=['ros2 run controller_manager spawner neck_controller'],
shell=True,
output='screen',
)

spawn_waist_yaw_controller = ExecuteProcess(
cmd=['ros2 run controller_manager spawner waist_yaw_controller'],
shell=True,
output='screen',
)

return LaunchDescription([
declare_loaded_description,
controller_manager,
spawn_right_arm_controller,
spawn_right_gripper_controller,
spawn_left_arm_controller,
spawn_left_gripper_controller,
spawn_joint_state_broadcaster,
spawn_neck_controller,
spawn_waist_yaw_controller
])
parameters=[
{'robot_description': LaunchConfiguration('loaded_description')},
sciurus17_controllers,
],
)

spawn_joint_state_broadcaster = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['joint_state_broadcaster'],
)

spawn_right_arm_controller = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['right_arm_controller'],
)

spawn_right_gripper_controller = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['right_gripper_controller'],
)

spawn_left_arm_controller = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['left_arm_controller'],
)

spawn_left_gripper_controller = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['left_gripper_controller'],
)

spawn_neck_controller = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['neck_controller'],
)

spawn_waist_yaw_controller = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['waist_yaw_controller'],
)

return LaunchDescription(
[
declare_loaded_description,
controller_manager,
spawn_right_arm_controller,
spawn_right_gripper_controller,
spawn_left_arm_controller,
spawn_left_gripper_controller,
spawn_joint_state_broadcaster,
spawn_neck_controller,
spawn_waist_yaw_controller,
]
)
94 changes: 36 additions & 58 deletions sciurus17_examples/launch/camera_example.launch.py
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Expand Up @@ -12,78 +12,56 @@
# 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
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.actions import SetParameter
from moveit_configs_utils import MoveItConfigsBuilder
from sciurus17_description.robot_description_loader import RobotDescriptionLoader
import yaml


def load_file(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)

try:
with open(absolute_file_path, 'r') as file:
return file.read()
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None


def load_yaml(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)

try:
with open(absolute_file_path, 'r') as file:
return yaml.safe_load(file)
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None


def generate_launch_description():
description_loader = RobotDescriptionLoader()

robot_description_semantic_config = load_file(
'sciurus17_moveit_config', 'config/sciurus17.srdf')
robot_description_semantic = {
'robot_description_semantic': robot_description_semantic_config}

kinematics_yaml = load_yaml('sciurus17_moveit_config', 'config/kinematics.yaml')

declare_example_name = DeclareLaunchArgument(
'example', default_value='point_cloud_detection',
description=('Set an example executable name: '
'[point_cloud_detection]')
'example',
default_value='point_cloud_detection',
description=('Set an example executable name: [point_cloud_detection]'),
)

declare_use_sim_time = DeclareLaunchArgument(
'use_sim_time', default_value='false',
description=('Set true when using the gazebo simulator.')
'use_sim_time',
default_value='false',
description=('Set true when using the gazebo simulator.'),
)

picking_node = Node(name='pick_and_place_tf',
package='sciurus17_examples',
executable='pick_and_place_tf',
output='screen',
parameters=[{'robot_description': description_loader.load()},
robot_description_semantic,
kinematics_yaml])
description_loader = RobotDescriptionLoader()

moveit_config = MoveItConfigsBuilder('sciurus17').to_moveit_configs()
moveit_config.robot_description = {
'robot_description': description_loader.load(),
}

picking_node = Node(
name='pick_and_place_tf',
package='sciurus17_examples',
executable='pick_and_place_tf',
output='screen',
parameters=[moveit_config.to_dict()],
)

detection_node = Node(name=[LaunchConfiguration('example'), '_node'],
package='sciurus17_examples',
executable=LaunchConfiguration('example'),
output='screen')
detection_node = Node(
name=[LaunchConfiguration('example'), '_node'],
package='sciurus17_examples',
executable=LaunchConfiguration('example'),
output='screen',
)

return LaunchDescription([
declare_use_sim_time,
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
picking_node,
declare_example_name,
detection_node
])
return LaunchDescription(
[
declare_example_name,
declare_use_sim_time,
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
picking_node,
detection_node,
]
)
51 changes: 25 additions & 26 deletions sciurus17_examples/launch/chest_camera_tracking.launch.py
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Expand Up @@ -22,49 +22,48 @@

def generate_launch_description():
declare_use_sim_time = DeclareLaunchArgument(
'use_sim_time', default_value='false',
description=('Set true when using the gazebo simulator.')
'use_sim_time',
default_value='false',
description=('Set true when using the gazebo simulator.'),
)

container = ComposableNodeContainer(
name='tracking_container',
namespace='head_camera_tracking',
package='rclcpp_components',
executable='component_container',
output='screen',
composable_node_descriptions=[
ComposableNode(
package='sciurus17_examples',
plugin='sciurus17_examples::ColorDetection',
name='color_detection',
namespace='chest_camera_tracking',
remappings=[
('/image_raw', '/chest_camera/image_raw')
],
extra_arguments=[{'use_intra_process_comms': True}]
),
ComposableNode(
package='sciurus17_examples',
plugin='sciurus17_examples::ObjectTracker',
plugin='sciurus17_examples::ColorDetection',
remappings=[('/image_raw', '/chest_camera/image_raw')],
extra_arguments=[{'use_intra_process_comms': True}],
),
ComposableNode(
name='object_tracker',
namespace='chest_camera_tracking',
remappings=[
('/controller_state', '/waist_yaw_controller/controller_state')
],
extra_arguments=[{'use_intra_process_comms': True}]
),
ComposableNode(
package='sciurus17_examples',
plugin='sciurus17_examples::WaistJtControl',
plugin='sciurus17_examples::ObjectTracker',
remappings=[('/controller_state', '/waist_yaw_controller/controller_state')],
extra_arguments=[{'use_intra_process_comms': True}],
),
ComposableNode(
name='waist_jt_control',
namespace='chest_camera_tracking',
extra_arguments=[{'use_intra_process_comms': True}]
),
package='sciurus17_examples',
plugin='sciurus17_examples::WaistJtControl',
extra_arguments=[{'use_intra_process_comms': True}],
),
],
output='screen',
)

return LaunchDescription([
declare_use_sim_time,
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
container
])
return LaunchDescription(
[
declare_use_sim_time,
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
container,
]
)
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