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use sqlite instead of mongo db #186

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use sqlite instead of mongo db #186

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38 changes: 17 additions & 21 deletions panda_moveit_config/launch/demo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,16 +16,20 @@ def generate_launch_description():
"rviz_tutorial", default_value="False", description="Tutorial flag"
)

db_arg = DeclareLaunchArgument(
"db", default_value="False", description="Database flag"
)

ros2_control_hardware_type = DeclareLaunchArgument(
"ros2_control_hardware_type",
default_value="mock_components",
description="ROS2 control hardware interface type to use for the launch file -- possible values: [mock_components, isaac]",
)

warehouse_sqlite_path_arg = DeclareLaunchArgument(
"warehouse_sqlite_path",
default_value=os.path.expanduser("~/.ros/warehouse_ros.sqlite"),
description="Path where the warehouse database should be stored",
)

warehouse_sqlite_path = LaunchConfiguration("warehouse_sqlite_path")

moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(
Expand All @@ -44,12 +48,17 @@ def generate_launch_description():
.to_moveit_configs()
)

warehouse_ros_config = {
"warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection",
"warehouse_host": warehouse_sqlite_path,
}

# Start the actual move_group node/action server
move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[moveit_config.to_dict()],
parameters=[moveit_config.to_dict(), warehouse_ros_config],
arguments=["--ros-args", "--log-level", "info"],
)

Expand All @@ -71,6 +80,7 @@ def generate_launch_description():
moveit_config.robot_description_semantic,
moveit_config.planning_pipelines,
moveit_config.robot_description_kinematics,
warehouse_ros_config,
],
condition=IfCondition(tutorial_mode),
)
Expand All @@ -86,6 +96,7 @@ def generate_launch_description():
moveit_config.planning_pipelines,
moveit_config.robot_description_kinematics,
moveit_config.joint_limits,
warehouse_ros_config,
],
condition=UnlessCondition(tutorial_mode),
)
Expand Down Expand Up @@ -143,25 +154,11 @@ def generate_launch_description():
arguments=["panda_hand_controller", "-c", "/controller_manager"],
)

# 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,
ros2_control_hardware_type,
warehouse_sqlite_path_arg,
rviz_node,
rviz_node_tutorial,
static_tf_node,
Expand All @@ -171,6 +168,5 @@ def generate_launch_description():
joint_state_broadcaster_spawner,
panda_arm_controller_spawner,
panda_hand_controller_spawner,
mongodb_server_node,
]
)
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