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ur5e.launch.py
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ur5e.launch.py
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# Copyright (c) 2021 PickNik, Inc.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of the {copyright_holder} nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: Denis Stogl
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_ip",
description="IP address by which the robot can be reached.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_mock_hardware",
default_value="false",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"mock_sensor_commands",
default_value="false",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="scaled_joint_trajectory_controller",
description="Initially loaded robot controller.",
choices=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_velocity_controller",
"forward_position_controller",
],
)
)
declared_arguments.append(
DeclareLaunchArgument(
"activate_joint_controller",
default_value="true",
description="Activate loaded joint controller.",
)
)
# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
base_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
launch_arguments={
"ur_type": "ur5e",
"robot_ip": robot_ip,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
)
return LaunchDescription(declared_arguments + [base_launch])