run_moveit_cpp.launch.py

import os
import yaml
from launch import LaunchDescription
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():
    # moveit_cpp.yaml is passed by filename for now since it's node specific
    moveit_cpp_yaml_file_name = (
        get_package_share_directory("run_moveit_cpp") + "/config/moveit_cpp.yaml"
    )

    # Component yaml files are grouped in separate namespaces
    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"
    )
    robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}

    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",
    }

    ompl_planning_pipeline_config = {
        "ompl": {
            "planning_plugin": "ompl_interface/OMPLPlanner",
            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization 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["ompl"].update(ompl_planning_yaml)

    # MoveItCpp demo executable
    run_moveit_cpp_node = Node(
        name="run_moveit_cpp",
        package="run_moveit_cpp",
        # TODO(henningkayser): add debug argument
        # prefix='xterm -e gdb --args',
        executable="run_moveit_cpp",
        output="screen",
        parameters=[
            moveit_cpp_yaml_file_name,
            robot_description,
            robot_description_semantic,
            kinematics_yaml,
            ompl_planning_pipeline_config,
            moveit_controllers,
        ],
    )

    # RViz
    rviz_config_file = (
        get_package_share_directory("run_moveit_cpp") + "/launch/run_moveit_cpp.rviz"
    )
    rviz_node = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        arguments=["-d", rviz_config_file],
        parameters=[robot_description, robot_description_semantic],
    )

    # 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",
            )
        ]

    return LaunchDescription(
        [
            static_tf,
            robot_state_publisher,
            rviz_node,
            run_moveit_cpp_node,
            ros2_control_node,
        ]
        + load_controllers
    )