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Revert robot-description but update dependency (#310)
* Revert "add a dependency; fix deprecation warning (#305)" This reverts commit 71764d9. * Add joint_state_publisher_gui as dependency Co-authored-by: Reza Kermani <kermani.areza@gmail.com> (cherry picked from commit 57a7451) # Conflicts: # example_3/bringup/launch/rrbot_base.launch.py # example_4/bringup/launch/rrbot_base.launch.py # example_5/bringup/launch/rrbot_base.launch.py # example_6/bringup/launch/rrbot_base.launch.py # example_8/bringup/launch/rrbot_base.launch.py
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‎example_1/package.xml

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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>ros2_controllers_test_nodes</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>forward_command_controller</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>joint_trajectory_controller</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>ros2_controllers_test_nodes</exec_depend>
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<exec_depend>ros2controlcli</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>xacro</exec_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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‎example_2/package.xml

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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>ros2_controllers_test_nodes</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>diff_drive_controller</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>ros2_controllers_test_nodes</exec_depend>
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<exec_depend>ros2controlcli</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>xacro</exec_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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‎example_3/bringup/launch/rrbot_base.launch.py

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@@ -0,0 +1,205 @@
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# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, RegisterEventHandler
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from launch.conditions import IfCondition
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, 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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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"runtime_config_package",
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default_value="ros2_control_demo_example_3",
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description='Package with the controller\'s configuration in "config" folder. \
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Usually the argument is not set, it enables use of a custom setup.',
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="rrbot_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ros2_control_demo_example_3",
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description="Description package with robot URDF/xacro files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value='""',
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description="Prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_mock_hardware",
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default_value="true",
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description="Start robot with mock hardware mirroring command to its states.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"mock_sensor_commands",
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default_value="false",
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description="Enable fake command interfaces for sensors used for simple simulations. \
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Used only if 'use_mock_hardware' parameter is true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"slowdown", default_value="3.0", description="Slowdown factor of the RRbot."
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_controller",
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default_value="forward_position_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_rviz",
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default_value="true",
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description="Start RViz2 automatically with this launch file.",
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)
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)
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# Initialize Arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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controllers_file = LaunchConfiguration("controllers_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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prefix = LaunchConfiguration("prefix")
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use_mock_hardware = LaunchConfiguration("use_mock_hardware")
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mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
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slowdown = LaunchConfiguration("slowdown")
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robot_controller = LaunchConfiguration("robot_controller")
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start_rviz = LaunchConfiguration("start_rviz")
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# Get URDF via xacro
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare(description_package), "urdf", description_file]
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),
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" ",
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"prefix:=",
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prefix,
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" ",
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"use_mock_hardware:=",
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use_mock_hardware,
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" ",
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"mock_sensor_commands:=",
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mock_sensor_commands,
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" ",
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"slowdown:=",
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slowdown,
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare(runtime_config_package),
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"config",
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controllers_file,
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]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(description_package), "rviz", "rrbot.rviz"]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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condition=IfCondition(start_rviz),
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[robot_controller, "--controller-manager", "/controller_manager"],
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)
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# Delay rviz start after `joint_state_broadcaster`
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delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[rviz_node],
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)
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)
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# Delay start of robot_controller after `joint_state_broadcaster`
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delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[robot_controller_spawner],
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)
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)
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nodes = [
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control_node,
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robot_state_pub_node,
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joint_state_broadcaster_spawner,
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delay_rviz_after_joint_state_broadcaster_spawner,
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delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
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]
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return LaunchDescription(declared_arguments + nodes)

‎example_3/package.xml

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
2020

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<exec_depend>ros2launch</exec_depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>ros2_controllers_test_nodes</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>forward_command_controller</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>ros2_controllers_test_nodes</exec_depend>
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<exec_depend>ros2controlcli</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>xacro</exec_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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