144 lines
4.5 KiB
Python
144 lines
4.5 KiB
Python
import os
|
|
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
from launch import LaunchDescription
|
|
from launch_ros.actions import Node
|
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler, TimerAction
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import PathJoinSubstitution
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
from launch.event_handlers import OnProcessExit
|
|
|
|
import xacro
|
|
|
|
|
|
def launch_setup(context, *args, **kwargs):
|
|
# Gazebo World
|
|
world = context.launch_configurations['world']
|
|
default_sdf_path = os.path.join(get_package_share_directory('gz_quadruped_playground'), 'worlds', world + '.sdf')
|
|
|
|
# Init Height When spawn the model
|
|
init_height = context.launch_configurations['height']
|
|
gz_spawn_entity = Node(
|
|
package='ros_gz_sim',
|
|
executable='create',
|
|
output='screen',
|
|
arguments=['-topic', 'robot_description', '-name',
|
|
'robot', '-allow_renaming', 'true', '-z', init_height],
|
|
)
|
|
|
|
# Robot Description
|
|
pkg_description = context.launch_configurations['pkg_description']
|
|
pkg_path = os.path.join(get_package_share_directory(pkg_description))
|
|
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
|
robot_description = xacro.process_file(xacro_file, mappings={
|
|
'GAZEBO': 'true'
|
|
}).toxml()
|
|
robot_state_publisher = Node(
|
|
package='robot_state_publisher',
|
|
executable='robot_state_publisher',
|
|
name='robot_state_publisher',
|
|
parameters=[
|
|
{
|
|
'publish_frequency': 20.0,
|
|
'use_tf_static': True,
|
|
'robot_description': robot_description,
|
|
'ignore_timestamp': True
|
|
}
|
|
],
|
|
)
|
|
|
|
rviz_config_file = os.path.join(get_package_share_directory("ocs2_quadruped_controller"), "config", "visualize_ocs2.rviz")
|
|
rviz = Node(
|
|
package='rviz2',
|
|
executable='rviz2',
|
|
name='rviz',
|
|
output='screen',
|
|
arguments=["-d", rviz_config_file]
|
|
)
|
|
|
|
joint_state_publisher = Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
arguments=["joint_state_broadcaster",
|
|
"--controller-manager", "/controller_manager"]
|
|
)
|
|
|
|
imu_sensor_broadcaster = Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
arguments=["imu_sensor_broadcaster",
|
|
"--controller-manager", "/controller_manager"]
|
|
)
|
|
|
|
ocs2_controller = Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
|
)
|
|
|
|
return [
|
|
rviz,
|
|
robot_state_publisher,
|
|
gz_spawn_entity,
|
|
IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource(
|
|
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
|
|
'launch',
|
|
'gz_sim.launch.py'])]),
|
|
launch_arguments=[('gz_args', [' -r -v 4 ', default_sdf_path])]),
|
|
RegisterEventHandler(
|
|
event_handler=OnProcessExit(
|
|
target_action=gz_spawn_entity,
|
|
on_exit=[joint_state_publisher,imu_sensor_broadcaster],
|
|
)
|
|
),
|
|
RegisterEventHandler(
|
|
event_handler=OnProcessExit(
|
|
target_action=joint_state_publisher,
|
|
on_exit=[ocs2_controller],
|
|
)
|
|
),
|
|
]
|
|
|
|
|
|
def generate_launch_description():
|
|
world = DeclareLaunchArgument(
|
|
'world',
|
|
default_value='default',
|
|
description='The world to load'
|
|
)
|
|
|
|
pkg_description = DeclareLaunchArgument(
|
|
'pkg_description',
|
|
default_value='go2_description',
|
|
description='package for robot description'
|
|
)
|
|
|
|
height = DeclareLaunchArgument(
|
|
'height',
|
|
default_value='0.5',
|
|
description='Init height in simulation'
|
|
)
|
|
|
|
gz_bridge_node = Node(
|
|
package="ros_gz_bridge",
|
|
executable="parameter_bridge",
|
|
arguments=[
|
|
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
|
|
"/odom@nav_msgs/msg/Odometry@gz.msgs.Odometry",
|
|
"/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V"
|
|
],
|
|
output="screen"
|
|
)
|
|
|
|
return LaunchDescription([
|
|
world,
|
|
pkg_description,
|
|
height,
|
|
gz_bridge_node,
|
|
OpaqueFunction(function=launch_setup),
|
|
])
|