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Changed add joints to use_joint_state_publisher | added joint state p… (
#470) * Added fake viz Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added docs Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
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| # husarion_ugv_description | ||
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| ## URDF - Robot Model Configuration | ||
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| ### Configure Components | ||
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| Create `components.yaml` file with the desired components. Here's a sample configuration: | ||
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| ```yaml | ||
| components: | ||
| - type: MAN02 | ||
| parent_link: cover_link | ||
| xyz: 0.2 -0.2 0.0 | ||
| rpy: 0.0 0.0 0.0 | ||
| device_namespace: ur5 | ||
| ``` | ||
| In this example: | ||
| - `type`: MAN02: Specifies the component type. | ||
| - `parent_link`: cover_link: Defines the parent link to attach the component. | ||
| - `xyz`: 0.2 -0.2 0.0: Sets the position of the component. | ||
| - `rpy`: 0.0 0.0 0.0: Sets the rotation of the component. | ||
| - `device_namespace`: ur5: Sets the device namespace. | ||
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| ### Visualize Robot Model Configuration | ||
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| To use the `ros2 launch` command to launch the `visualize_fake_robot.launch.py` file with a specified robot model and components configuration path, follow these steps: | ||
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| 1. Open a terminal. | ||
| 2. Source build workspace. | ||
| 3. Execute the following command: | ||
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| ```bash | ||
| ros2 launch husarion_ugv_description visualize_fake_robot.launch.py robot_model:=lynx use_joint_state_publisher:=true components_config_path:=$(pwd)/components.yaml | ||
| ``` | ||
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| If you want to move the wheels or move the manipulator you can run the launch file with `joint_state_publisher_gui`: | ||
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| ```bash | ||
| ros2 launch husarion_ugv_description visualize_fake_robot.launch.py robot_model:=lynx use_joint_state_publisher_gui:=true components_config_path:=$(pwd)/components.yaml | ||
| ``` | ||
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| ### Overwrite Robot Model Configuration | ||
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| To change the configuration let's add another manipulator to `components.yaml`: | ||
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| ```yaml | ||
| components: | ||
| - type: MAN02 | ||
| parent_link: cover_link | ||
| xyz: 0.2 -0.2 0.0 | ||
| rpy: 0.0 0.0 0.0 | ||
| device_namespace: left_ur5 | ||
| - type: MAN02 | ||
| parent_link: cover_link | ||
| xyz: 0.2 0.2 0.0 | ||
| rpy: 0.0 0.0 0.0 | ||
| device_namespace: right_ur5 | ||
| ``` | ||
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| To use the `ros2 launch` command to launch the `overwrite_robot_description.launch.py` file with the appropriate arguments to overwrite the robot model, follow these steps: | ||
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| 1. Open a terminal. | ||
| 2. Source workspace. | ||
| 3. Execute the following command: | ||
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| ```bash | ||
| ros2 launch husarion_ugv_description overwrite_robot_description.launch.py robot_model:=lynx components_config_path:=$(pwd)/components.yaml | ||
| ``` |
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husarion_ugv_description/launch/visualize_fake_robot.launch.py
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| #!/usr/bin/env python3 | ||
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| # Copyright 2020 ros2_control Development Team | ||
| # Copyright 2024 Husarion sp. z o.o. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| import os | ||
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| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription | ||
| from launch.conditions import IfCondition | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import ( | ||
| EnvironmentVariable, | ||
| LaunchConfiguration, | ||
| PathJoinSubstitution, | ||
| PythonExpression, | ||
| ) | ||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
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| def generate_launch_description(): | ||
| components_config_path = LaunchConfiguration("components_config_path") | ||
| declare_components_config_path_arg = DeclareLaunchArgument( | ||
| "components_config_path", | ||
| default_value=PathJoinSubstitution( | ||
| [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"] | ||
| ), | ||
| description=( | ||
| "Additional components configuration file. Components described in this file " | ||
| "are dynamically included in Panther's urdf." | ||
| "Panther options are described here " | ||
| "https://husarion.com/manuals/panther/panther-options/" | ||
| ), | ||
| ) | ||
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| namespace = LaunchConfiguration("namespace") | ||
| declare_namespace_arg = DeclareLaunchArgument( | ||
| "namespace", | ||
| default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""), | ||
| description="Add namespace to all launched nodes.", | ||
| ) | ||
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| robot_model = LaunchConfiguration("robot_model") | ||
| robot_model_dict = {"LNX": "lynx", "PTH": "panther"} | ||
| robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH") | ||
| declare_robot_model_arg = DeclareLaunchArgument( | ||
| "robot_model", | ||
| default_value=robot_model_dict[robot_model_env], | ||
| description="Specify robot model.", | ||
| choices=["lynx", "panther"], | ||
| ) | ||
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| rviz_config = LaunchConfiguration("rviz_config") | ||
| declare_rviz_config_arg = DeclareLaunchArgument( | ||
| "rviz_config", | ||
| default_value=PathJoinSubstitution( | ||
| [FindPackageShare("husarion_ugv_description"), "rviz", "robot_model.rviz"] | ||
| ), | ||
| description="RViz configuration file.", | ||
| ) | ||
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| use_joint_state_publisher = LaunchConfiguration("use_joint_state_publisher") | ||
| declare_use_joint_state_publisher_arg = DeclareLaunchArgument( | ||
| "use_joint_state_publisher", | ||
| default_value="False", | ||
| description="Flag enabling joint_state_publisher to publish information about joints positions. Should be false when there is a controller that sends this information.", | ||
| choices=["True", "true", "False", "false"], | ||
| ) | ||
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| use_joint_state_publisher_gui = LaunchConfiguration("use_joint_state_publisher_gui") | ||
| declare_use_joint_state_publisher_gui_arg = DeclareLaunchArgument( | ||
| "use_joint_state_publisher_gui", | ||
| default_value="False", | ||
| description="Flag enabling joint_state_publisher_gui to publish information about joints positions. Should be false when there is a controller that sends this information.", | ||
| choices=["True", "true", "False", "false"], | ||
| ) | ||
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| wheel_type = LaunchConfiguration("wheel_type") | ||
| default_wheel_type = {"lynx": "WH05", "panther": "WH01"} | ||
| declare_wheel_type_arg = DeclareLaunchArgument( | ||
| "wheel_type", | ||
| default_value=PythonExpression([f"{default_wheel_type}['", robot_model, "']"]), | ||
| description=( | ||
| "Specify the wheel type. If the selected wheel type is not 'custom', " | ||
| "the 'wheel_config_path' and 'controller_config_path' arguments will be " | ||
| "automatically adjusted and can be omitted." | ||
| ), | ||
| choices=["WH01", "WH02", "WH04", "WH05", "custom"], | ||
| ) | ||
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| load_urdf = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [FindPackageShare("husarion_ugv_description"), "/launch/load_urdf.launch.py"] | ||
| ), | ||
| launch_arguments={ | ||
| "components_config_path": components_config_path, | ||
| "namespace": namespace, | ||
| "robot_model": robot_model, | ||
| "wheel_type": wheel_type, | ||
| }.items(), | ||
| ) | ||
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| rviz = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [FindPackageShare("husarion_ugv_description"), "/launch/rviz.launch.py"] | ||
| ), | ||
| launch_arguments={"namespace": namespace, "rviz_config": rviz_config}.items(), | ||
| ) | ||
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| joint_state_publisher_node = Node( | ||
| package="joint_state_publisher", | ||
| executable="joint_state_publisher", | ||
| namespace=namespace, | ||
| emulate_tty=True, | ||
| condition=IfCondition(use_joint_state_publisher), | ||
| ) | ||
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| joint_state_publisher_gui_node = Node( | ||
| package="joint_state_publisher_gui", | ||
| executable="joint_state_publisher_gui", | ||
| namespace=namespace, | ||
| emulate_tty=True, | ||
| condition=IfCondition(use_joint_state_publisher_gui), | ||
| ) | ||
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| actions = [ | ||
| declare_components_config_path_arg, | ||
| declare_namespace_arg, | ||
| declare_robot_model_arg, | ||
| declare_rviz_config_arg, | ||
| declare_use_joint_state_publisher_arg, | ||
| declare_use_joint_state_publisher_gui_arg, | ||
| declare_wheel_type_arg, | ||
| load_urdf, | ||
| rviz, | ||
| joint_state_publisher_node, | ||
| joint_state_publisher_gui_node, | ||
| ] | ||
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| return LaunchDescription(actions) |
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