121 lines
3.9 KiB
Python
121 lines
3.9 KiB
Python
import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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package_description = "go2_description"
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def launch_setup(context, *args, **kwargs):
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package_description = context.launch_configurations['pkg_description']
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pkg_path = os.path.join(get_package_share_directory(package_description))
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xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
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robot_description = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true'}).toxml()
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rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
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rviz = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz_ocs2',
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output='screen',
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arguments=["-d", rviz_config_file]
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)
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gz_spawn_entity = Node(
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package='ros_gz_sim',
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executable='create',
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output='screen',
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arguments=['-topic', 'robot_description', '-name',
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'robot', '-allow_renaming', 'true', '-z', '0.5'],
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)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[
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{
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'publish_frequency': 20.0,
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'use_tf_static': True,
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'robot_description': robot_description,
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'ignore_timestamp': True
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}
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],
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)
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joint_state_publisher = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster",
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"--controller-manager", "/controller_manager"],
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)
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imu_sensor_broadcaster = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["imu_sensor_broadcaster",
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"--controller-manager", "/controller_manager"],
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)
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leg_pd_controller = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["leg_pd_controller",
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"--controller-manager", "/controller_manager"],
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)
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unitree_guide_controller = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
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)
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return [
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rviz,
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robot_state_publisher,
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Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
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output='screen'
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
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'launch',
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'gz_sim.launch.py'])]),
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launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
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robot_state_publisher,
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gz_spawn_entity,
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leg_pd_controller,
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RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=leg_pd_controller,
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on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
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)
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),
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]
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def generate_launch_description():
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pkg_description = DeclareLaunchArgument(
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'pkg_description',
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default_value='go2_description',
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description='package for robot description'
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)
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return LaunchDescription([
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pkg_description,
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OpaqueFunction(function=launch_setup),
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]) |