Changed add joints to use_joint_state_publisher | added joint state p…

README.md

@@ -85,7 +85,6 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 
 | 🤖   | 🖥️   | Argument                     | Description <br/> ***Type:*** `Default`                                                                                                                                                                                                                                                                            |
 | --- | --- | ---------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| ❌   | ✅   | `add_wheel_joints`           | Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information. <br/> ***bool:*** `False`                                                                                                                             |
 | ❌   | ✅   | `add_world_transform`        | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False`                                                                                                                                                                                |
 | ✅   | ✅   | `animations_config_path`     | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`{robot_model}_animations.yaml`](./husarion_ugv_lights/config)                                                                           |
 | ❌   | ✅   | `battery_config_path`        | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                |
@@ -108,6 +107,8 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ✅   | ✅   | `safety_bt_project_path`     | Path to BehaviorTree project file, responsible for safety and shutdown management. <br/> ***string:*** [`SafetyBT.btproj`](./husarion_ugv_manager/behavior_trees/SafetyBT.btproj)                                                                                                                    |
 | ✅   | ✅   | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts.yaml`](./husarion_ugv_manager/config/shutdown_hosts.yaml)                                                                                                                                                                |
 | ✅   | ✅   | `use_ekf`                    | Enable or disable EKF. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                    |
+| ❌   | ✅   | `use_joint_state_publisher`           | Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information. <br/> ***bool:*** `False`                                                                                                                             |
+| ❌   | ✅   | `use_joint_state_publisher_gui`           | Flag enabling joint_state_publisher_gui to publish information about the wheel position. Should be false when there is a controller that sends this information. <br/> ***bool:*** `False`                                                                                                                             |
 | ❌   | ✅   | `use_rviz`                   | Run RViz simultaneously. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
 | ✅   | ✅   | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                              |
 | ✅   | ✅   | `user_led_animations_path`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                    |

husarion_ugv_description/CONFIGURATION.md

@@ -0,0 +1,69 @@
+# husarion_ugv_description
+
+## URDF - Robot Model Configuration
+
+### Configure Components
+
+Create `components.yaml` file with the desired components. Here's a sample configuration:
+
+```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.
+
+### Visualize Robot Model Configuration
+
+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:
+
+1. Open a terminal.
+2. Source build workspace.
+3. Execute the following command:
+
+```bash
+ros2 launch husarion_ugv_description visualize_fake_robot.launch.py robot_model:=lynx use_joint_state_publisher:=true components_config_path:=$(pwd)/components.yaml
+```
+
+If you want to move the wheels or move the manipulator you can run the launch file with `joint_state_publisher_gui`:
+
+```bash
+ros2 launch husarion_ugv_description visualize_fake_robot.launch.py robot_model:=lynx use_joint_state_publisher_gui:=true components_config_path:=$(pwd)/components.yaml
+```
+
+### Overwrite Robot Model Configuration
+
+To change the configuration let's add another manipulator to `components.yaml`:
+
+```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
+```
+
+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:
+
+1. Open a terminal.
+2. Source workspace.
+3. Execute the following command:
+
+```bash
+ros2 launch husarion_ugv_description overwrite_robot_description.launch.py robot_model:=lynx components_config_path:=$(pwd)/components.yaml
+```

husarion_ugv_description/launch/load_urdf.launch.py

@@ -19,7 +19,6 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.conditions import IfCondition
 from launch.substitutions import (
     Command,
     EnvironmentVariable,
@@ -33,15 +32,6 @@
 
 
 def generate_launch_description():
-    add_wheel_joints = LaunchConfiguration("add_wheel_joints")
-    declared_add_wheel_joints_arg = DeclareLaunchArgument(
-        "add_wheel_joints",
-        default_value="True",
-        description="Flag enabling joint_state_publisher to publish information about the wheel "
-        "position. Should be false when there is a controller that sends this information.",
-        choices=["True", "true", "False", "false"],
-    )
-
     battery_config_path = LaunchConfiguration("battery_config_path")
     declare_battery_config_path_arg = DeclareLaunchArgument(
         "battery_config_path",
@@ -183,16 +173,7 @@ def generate_launch_description():
         emulate_tty=True,
     )
 
-    joint_state_publisher_node = Node(
-        package="joint_state_publisher",
-        executable="joint_state_publisher",
-        namespace=namespace,
-        emulate_tty=True,
-        condition=IfCondition(add_wheel_joints),
-    )
-
     actions = [
-        declared_add_wheel_joints_arg,
         declare_battery_config_path_arg,
         declare_components_config_path_arg,
         declare_robot_model_arg,  # robot_model is used by wheel_type
@@ -203,7 +184,6 @@ def generate_launch_description():
         declare_wheel_config_path_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         robot_state_pub_node,
-        joint_state_publisher_node,  # do not publish, when use_sim is true
     ]
 
     return LaunchDescription(actions)

husarion_ugv_description/launch/visualize_fake_robot.launch.py

@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+
+# 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.
+
+import os
+
+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
+
+
+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/"
+        ),
+    )
+
+    namespace = LaunchConfiguration("namespace")
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Add namespace to all launched nodes.",
+    )
+
+    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"],
+    )
+
+    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.",
+    )
+
+    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"],
+    )
+
+    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"],
+    )
+
+    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"],
+    )
+
+    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(),
+    )
+
+    rviz = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [FindPackageShare("husarion_ugv_description"), "/launch/rviz.launch.py"]
+        ),
+        launch_arguments={"namespace": namespace, "rviz_config": rviz_config}.items(),
+    )
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher",
+        executable="joint_state_publisher",
+        namespace=namespace,
+        emulate_tty=True,
+        condition=IfCondition(use_joint_state_publisher),
+    )
+
+    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),
+    )
+
+    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,
+    ]
+
+    return LaunchDescription(actions)

husarion_ugv_description/package.xml

@@ -20,6 +20,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>nav2_common</exec_depend>