crane_x7_examples_pyのサンプル起動用launchファイル微修正

crane_x7_examples_py/launch/example.launch.py

@@ -15,105 +15,80 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from crane_x7_description.robot_description_loader import RobotDescriptionLoader
+from crane_x7_description.crane_x7_description.robot_description_loader \
+    import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.actions import SetParameter
 from moveit_configs_utils import MoveItConfigsBuilder
 
 
 def generate_launch_description():
-    # declare_loaded_description = DeclareLaunchArgument(
-    #     "loaded_description",
-    #     default_value="",
-    #     description="Set robot_description text.  \
-    #                  It is recommended to use RobotDescriptionLoader() in crane_x7_description.",
-    # )
     ld = LaunchDescription()
     description_loader = RobotDescriptionLoader()
     ld.add_action(
         DeclareLaunchArgument(
-            "loaded_description",
+            'loaded_description',
             default_value=description_loader.load(),
-            description="Set robot_description text.  \
-                      It is recommended to use RobotDescriptionLoader() in crane_x7_description.",
+            description='Set robot_description text.  \
+                      It is recommended to use RobotDescriptionLoader() \
+                          in crane_x7_description.',
         )
     )
 
     moveit_config = (
-        MoveItConfigsBuilder("crane_x7")
+        MoveItConfigsBuilder('crane_x7')
         .planning_scene_monitor(
             publish_robot_description=True,
             publish_robot_description_semantic=True,
         )
         .robot_description(
             file_path=os.path.join(
-                get_package_share_directory("crane_x7_description"),
-                "urdf",
-                "crane_x7.urdf.xacro",
+                get_package_share_directory('crane_x7_description'),
+                'urdf',
+                'crane_x7.urdf.xacro',
             ),
             mappings={},
         )
         .robot_description_kinematics(
-            file_path=get_package_share_directory("crane_x7_moveit_config")
-            + "/config/kinematics.yaml"
+            file_path=get_package_share_directory('crane_x7_moveit_config')
+            + '/config/kinematics.yaml'
         )
-        # .robot_description_semantic(
-        #     file_path="config/crsane_plus.srdf",
-        #     mappings={"model": "crane_x7"},
-        # )
-        # .joint_limits(file_path="config/joint_limits.yaml")
         .trajectory_execution(
-            file_path=get_package_share_directory("crane_x7_moveit_config")
-            + "/config/controllers.yaml"
+            file_path=get_package_share_directory('crane_x7_moveit_config')
+            + '/config/controllers.yaml'
         )
-        # .planning_pipelines(pipelines=["ompl"])
         .moveit_cpp(
-            file_path=get_package_share_directory("crane_x7_examples_py")
-            + "/config/crane_x7_moveit_py_examples.yaml"
+            file_path=get_package_share_directory('crane_x7_examples_py')
+            + '/config/crane_x7_moveit_py_examples.yaml'
         )
         .to_moveit_configs()
     )
 
     moveit_config.robot_description = {
-        "robot_description": LaunchConfiguration("loaded_description")
+        'robot_description': LaunchConfiguration('loaded_description')
     }
 
-    moveit_config.move_group_capabilities = {"capabilities": ""}
+    moveit_config.move_group_capabilities = {'capabilities': ''}
 
     declare_example_name = DeclareLaunchArgument(
-        "example",
-        default_value="gripper_control",
+        'example',
+        default_value='gripper_control',
         description=(
-            "Set an example executable name: "
-            "[gripper_control, pose_groupstate, joint_values, pick_and_place, pick_and_place_tf]"
+            'Set an example executable name: '
+            '[gripper_control, pose_groupstate, joint_values, pick_and_place, pick_and_place_tf]'
         ),
     )
 
-    # declare_use_sim_time = DeclareLaunchArgument(
-    #     "use_sim_time",
-    #     default_value="false",
-    #     description=("Set true when using the gazebo simulator."),
-    # )
-
-    # use_sim_time_name = SetParameter(
-    #     name="use_sim_time", value=LaunchConfiguration("use_sim_time")
-    # )
-
     example_node = Node(
-        name=[LaunchConfiguration("example"), "_node"],
-        package="crane_x7_examples_py",
-        executable=LaunchConfiguration("example"),
-        output="screen",
+        name=[LaunchConfiguration('example'), '_node'],
+        package='crane_x7_examples_py',
+        executable=LaunchConfiguration('example'),
+        output='screen',
         parameters=[moveit_config.to_dict()],
     )
 
-    # ld = LaunchDescription([SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time'))])
-    # ld.add_action(declare_use_sim_time)
-    # ld.add_action(use_sim_time_name)
-    # ld.add_action(declare_loaded_description)
     ld.add_action(declare_example_name)
     ld.add_action(example_node)