Add demo.launch.py for ros2

panda_moveit_config/launch/demo.launch.py

@@ -0,0 +1,225 @@
+import os
+import yaml
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+
+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():
+
+    # Command-line arguments
+    tutorial_arg = DeclareLaunchArgument(
+        "rviz_tutorial", default_value="False", description="Tutorial flag"
+    )
+
+    db_arg = DeclareLaunchArgument(
+        "db", default_value="False", description="Database flag"
+    )
+
+    # planning_context
+    robot_description_config = xacro.process_file(
+        os.path.join(
+            get_package_share_directory("moveit_resources_panda_moveit_config"),
+            "config",
+            "panda.urdf.xacro",
+        )
+    )
+    robot_description = {"robot_description": robot_description_config.toxml()}
+
+    robot_description_semantic_config = load_file(
+        "moveit_resources_panda_moveit_config", "config/panda.srdf"
+    )
+    robot_description_semantic = {
+        "robot_description_semantic": robot_description_semantic_config
+    }
+
+    kinematics_yaml = load_yaml(
+        "moveit_resources_panda_moveit_config", "config/kinematics.yaml"
+    )
+
+    # Planning Functionality
+    ompl_planning_pipeline_config = {
+        "move_group": {
+            "planning_plugin": "ompl_interface/OMPLPlanner",
+            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
+            "start_state_max_bounds_error": 0.1,
+        }
+    }
+    ompl_planning_yaml = load_yaml(
+        "moveit_resources_panda_moveit_config", "config/ompl_planning.yaml"
+    )
+    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
+
+    # Trajectory Execution Functionality
+    moveit_simple_controllers_yaml = load_yaml(
+        "moveit_resources_panda_moveit_config", "config/panda_controllers.yaml"
+    )
+    moveit_controllers = {
+        "moveit_simple_controller_manager": moveit_simple_controllers_yaml,
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
+    }
+
+    trajectory_execution = {
+        "moveit_manage_controllers": True,
+        "trajectory_execution.allowed_execution_duration_scaling": 1.2,
+        "trajectory_execution.allowed_goal_duration_margin": 0.5,
+        "trajectory_execution.allowed_start_tolerance": 0.01,
+    }
+
+    planning_scene_monitor_parameters = {
+        "publish_planning_scene": True,
+        "publish_geometry_updates": True,
+        "publish_state_updates": True,
+        "publish_transforms_updates": True,
+    }
+
+    # Start the actual move_group node/action server
+    run_move_group_node = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning_pipeline_config,
+            trajectory_execution,
+            moveit_controllers,
+            planning_scene_monitor_parameters,
+        ],
+    )
+
+    # RViz
+    tutorial_mode = LaunchConfiguration("rviz_tutorial")
+    rviz_base = os.path.join(get_package_share_directory("moveit_resources_panda_moveit_config"), "launch")
+    rviz_full_config = os.path.join(rviz_base, "moveit.rviz")
+    rviz_empty_config = os.path.join(rviz_base, "moveit_empty.rviz")
+    rviz_node_tutorial = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_empty_config],
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            ompl_planning_pipeline_config,
+            kinematics_yaml,
+        ],
+        condition=IfCondition(tutorial_mode),
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_full_config],
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            ompl_planning_pipeline_config,
+            kinematics_yaml,
+        ],
+        condition=UnlessCondition(tutorial_mode),
+    )
+
+    # Static TF
+    static_tf = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="static_transform_publisher",
+        output="log",
+        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"],
+    )
+
+    # Publish TF
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    # ros2_control using FakeSystem as hardware
+    ros2_controllers_path = os.path.join(
+        get_package_share_directory("moveit_resources_panda_moveit_config"),
+        "config",
+        "panda_ros_controllers.yaml",
+    )
+    ros2_control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, ros2_controllers_path],
+        output={
+            "stdout": "screen",
+            "stderr": "screen",
+        },
+    )
+
+    # Load controllers
+    load_controllers = []
+    for controller in ["panda_arm_controller", "joint_state_controller"]:
+        load_controllers += [
+            ExecuteProcess(
+                cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
+                shell=True,
+                output="screen",
+            )
+        ]
+
+    # Warehouse mongodb server
+    db_config = LaunchConfiguration("db")
+    mongodb_server_node = Node(
+        package="warehouse_ros_mongo",
+        executable="mongo_wrapper_ros.py",
+        parameters=[
+            {"warehouse_port": 33829},
+            {"warehouse_host": "localhost"},
+            {"warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection"},
+        ],
+        output="screen",
+        condition=IfCondition(db_config)
+    )
+
+    return LaunchDescription(
+        [
+            tutorial_arg,
+            db_arg,
+            rviz_node,
+            rviz_node_tutorial,
+            static_tf,
+            robot_state_publisher,
+            run_move_group_node,
+            ros2_control_node,
+            mongodb_server_node,
+        ]
+        + load_controllers
+    )