def generate_launch_description():
# Webots
webots = WebotsLauncher(
world=os.path.join(get_package_share_directory('webots_ros2_examples'),
'worlds', 'ros_example.wbt'))
# Controller node
synchronization = launch.substitutions.LaunchConfiguration(
'synchronization', default=False)
controller = ControllerLauncher(package='webots_ros2_examples',
node_executable='example_controller',
parameters=[{
'synchronization':
synchronization
}],
output='screen')
return launch.LaunchDescription([
webots,
controller,
# Shutdown launch when Webots exits.
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
)),
])
def generate_launch_description():
return launch.LaunchDescription(
[
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[get_package_share_directory(robot), "/launch/interfaces.py"]
),
launch_arguments={
"namespace": robot,
"params_file": os.path.join(
get_package_share_directory(robot), "param", f"{robot}.yml"
),
}.items(),
)
for robot in robots
]
+ [
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
get_package_share_directory("assurancetourix"),
"/launch/launch.py",
]
),
launch_arguments={
"namespace": "assurancetourix",
"params_file": os.path.join(
get_package_share_directory("assurancetourix"),
"param",
"assurancetourix.yml",
),
}.items(),
)
]
+ [
GroupAction(
[
Node(
package="strategix",
executable="strategix",
output="screen",
),
WebotsLauncher(
mode="realtime",
world="tools/simulation/worlds/cdr2022.wbt",
),
]
)
]
+ [
RegisterEventHandler(
event_handler=OnProcessExit(
on_exit=[
EmitEvent(event=Shutdown()),
]
)
)
]
)
def generate_launch_description():
# Webots
webots = WebotsLauncher(
#world=os.path.join(get_package_share_directory('robotis_mini_description'), 'worlds', 'ros_example.wbt')
world=os.path.join('./worlds', 'empty.wbt'))
# Controller node
# synchronization = launch.substitutions.LaunchConfiguration('synchronization', default=False)
# controller = ControllerLauncher(
# package='head_node',
# executable='head_publisher',
# parameters=[{'synchronization': synchronization}],
# output='screen'
#)
# urdf for state publisher
robot_description_filename = 'robotis_mini.urdf.xacro'
print("robot_description_filename : {}".format(robot_description_filename))
xacro = os.path.join(
get_package_share_directory('robotis_mini_description'), 'urdf',
robot_description_filename)
print("xacro : {}".format(xacro))
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
xacro_path = LaunchConfiguration('xacro_path', default='{}'.format(xacro))
print("xacro_path : {}".format(xacro_path))
gui = LaunchConfiguration('gui', default='true')
return launch.LaunchDescription([
webots,
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
Node(package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[{
'use_sim_time':
use_sim_time,
'robot_description':
Command(['xacro', ' ', xacro_path])
}]),
Node(condition=UnlessCondition(gui),
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen'),
Node(condition=IfCondition(gui),
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher_gui'),
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
)),
])
def generate_launch_description():
package_dir = get_package_share_directory('webots_ros2_turtlebot')
world = LaunchConfiguration('world')
robot_description = pathlib.Path(
os.path.join(package_dir, 'resource',
'turtlebot_webots.urdf')).read_text()
ros2_control_params = os.path.join(package_dir, 'resource',
'ros2control.yml')
webots = WebotsLauncher(
world=PathJoinSubstitution([package_dir, 'worlds', world]))
turtlebot_driver = Node(package='webots_ros2_driver',
executable='driver',
output='screen',
parameters=[{
'robot_description': robot_description
}, ros2_control_params],
remappings=[
('/diffdrive_controller/cmd_vel_unstamped',
'/cmd_vel')
])
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[{
'robot_description':
'<robot name=""><link name=""/></robot>'
}],
)
footprint_publisher = Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=[
'0', '0', '0', '0', '0', '0', 'base_link', 'base_footprint'
],
)
return LaunchDescription([
DeclareLaunchArgument(
'world',
default_value='turtlebot3_burger_example.wbt',
description=
'Choose one of the world files from `/webots_ros2_turtlebot/world` directory'
), webots, robot_state_publisher, turtlebot_driver,
footprint_publisher,
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
))
])
def generate_launch_description():
webots = WebotsLauncher(
world=os.path.join(get_package_share_directory('webots'),
'models/worlds', 'sim-robot.wbt'))
synchronization = launch.substitutions.LaunchConfiguration(
'synchronization', default=False)
red_1 = ControllerLauncher(package='controller',
executable='controller',
parameters=[{
'synchronization': synchronization
}],
arguments=['red_1'],
output='screen')
red_2 = ControllerLauncher(package='controller',
executable='controller',
parameters=[{
'synchronization': synchronization
}],
arguments=['red_2'],
output='screen')
blue_1 = ControllerLauncher(package='controller',
executable='controller',
parameters=[{
'synchronization': synchronization
}],
arguments=['blue_1'],
output='screen')
blue_2 = ControllerLauncher(package='controller',
executable='controller',
parameters=[{
'synchronization': synchronization
}],
arguments=['blue_2'],
output='screen')
supervisor = ControllerLauncher(package='controller',
executable='supervisor',
parameters=[{
'synchronization':
synchronization
}],
output='screen')
return LaunchDescription([
webots, red_1, red_2, blue_1, blue_2, supervisor,
Node(package='params', executable='params'),
Node(package='motion', executable='motion', arguments=['red_1']),
Node(package='motion', executable='motion', arguments=['red_2']),
Node(package='motion', executable='motion', arguments=['blue_1']),
Node(package='motion', executable='motion', arguments=['blue_2']),
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
))
])
def generate_launch_description():
synchronization = LaunchConfiguration('synchronization')
package = LaunchConfiguration('package')
executable = LaunchConfiguration('executable')
world = LaunchConfiguration('world')
gui = LaunchConfiguration('gui')
mode = LaunchConfiguration('mode')
publish_tf = LaunchConfiguration('publish_tf')
node_parameters = LaunchConfiguration('node_parameters')
robot_name = LaunchConfiguration('robot_name')
node_name = LaunchConfiguration('node_name')
use_sim_time = LaunchConfiguration('use_sim_time')
# Webots
webots = WebotsLauncher(world=world, mode=mode, gui=gui)
# Driver node
controller = ControllerLauncher(
package=package,
executable=executable,
parameters=[
node_parameters, {
'synchronization': synchronization,
'use_joint_state_publisher': publish_tf
}
],
output='screen',
arguments=[
'--webots-robot-name', robot_name, '--webots-node-name', node_name
],
)
# Robot state publisher
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[{
'robot_description': '<robot name=""><link name=""/></robot>',
'use_sim_time': use_sim_time
}],
condition=launch.conditions.IfCondition(publish_tf))
return LaunchDescription(ARGUMENTS + [
robot_state_publisher,
webots,
controller,
# Shutdown launch when Webots exits.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[EmitEvent(event=launch.events.Shutdown())],
))
])
def generate_launch_description():
webots = WebotsLauncher(
world=os.path.join(get_package_share_directory('webots'),
'models/worlds', 'sim-robot.wbt'))
return LaunchDescription([
webots,
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
))
])
def generate_launch_description():
# Webots
webots = WebotsLauncher(
world=os.path.join(get_package_share_directory('webots_ros2_demos'),
'worlds', 'armed_robots.wbt'))
# Controller nodes
synchronization = launch.substitutions.LaunchConfiguration(
'synchronization', default=False)
AbbController = ControllerLauncher(
package='webots_ros2_core',
executable='webots_robotic_arm_node',
# this argument should match the 'name' field
# of the robot in Webots
arguments=['--webots-robot-name=abbirb4600'],
namespace='abb',
parameters=[{
'synchronization': synchronization
}],
output='screen')
Ure5controller = ControllerLauncher(
package='webots_ros2_core',
executable='webots_robotic_arm_node',
# this argument should match the 'name' field
# of the robot in Webots
arguments=['--webots-robot-name=UR5e'],
namespace='ur',
parameters=[{
'synchronization': synchronization
}],
output='screen')
# Control nodes
armedRobotsUr = ControllerLauncher(package='webots_ros2_demos',
executable='armed_robots_ur',
output='screen')
armedRobotsAbb = ControllerLauncher(package='webots_ros2_demos',
executable='armed_robots_abb',
output='screen')
return launch.LaunchDescription([
webots,
AbbController,
Ure5controller,
armedRobotsUr,
armedRobotsAbb,
# Shutdown launch when Webots exits.
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
)),
])
def generate_launch_description():
# Webots
webots = WebotsLauncher(world=os.path.join(
get_package_share_directory('webots_ros2_universal_robot'), 'worlds',
'universal_robot_multiple.wbt'))
# Controller nodes
synchronization = launch.substitutions.LaunchConfiguration(
'synchronization', default=False)
ure3_controller = ControllerLauncher(
package='webots_ros2_core',
executable='webots_robotic_arm_node',
arguments=['--webots-robot-name=UR3e'],
namespace='UR3e',
parameters=[{
'synchronization': synchronization
}],
output='screen')
ure5_controller = ControllerLauncher(
package='webots_ros2_core',
executable='webots_robotic_arm_node',
arguments=['--webots-robot-name=UR5e'],
namespace='UR5e',
parameters=[{
'synchronization': synchronization
}],
output='screen')
return launch.LaunchDescription([
webots,
ure3_controller,
ure5_controller,
# Shutdown launch when Webots exits.
launch.actions.
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
)),
])
def generate_launch_description():
package_dir = get_package_share_directory('webots_ros2_universal_robot')
# Webots
webots = WebotsLauncher(
world=os.path.join(package_dir, 'worlds', 'universal_robot.wbt'))
# Driver node
controller = ControllerLauncher(package='webots_ros2_core',
executable='webots_robotic_arm_node',
parameters=[{
'controller_name':
'webots_controller',
'use_joint_state_publisher':
True
}],
output='screen')
# Robot state publisher
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[{
'robot_description': '<robot name=""><link name=""/></robot>',
'use_sim_time': True
}],
)
# MoveIt config
robot_description_config = None
with open('/tmp/webots_robot_UR5e.urdf', 'r') as file:
robot_description_config = file.read()
robot_description = {'robot_description': robot_description_config}
robot_description_semantic = {
'robot_description_semantic':
load_file('webots_ros2_universal_robot', 'config/ur5e.srdf')
}
robot_description_kinematics = {
'robot_description_kinematics':
load_yaml('webots_ros2_universal_robot', 'config/kinematics.yaml')
}
moveit_controllers = {
'moveit_controller_manager':
'moveit_simple_controller_manager/MoveItSimpleControllerManager',
'moveit_simple_controller_manager':
load_yaml('webots_ros2_universal_robot', 'config/controllers.yaml')
}
run_move_group_node = Node(package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[
robot_description_semantic,
robot_description, moveit_controllers,
robot_description_kinematics, {
'use_sim_time': True
}
])
# RViz
rviz_config_file = os.path.join(package_dir, 'launch',
'universal_robot_moveit2.rviz')
rviz_node = Node(package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
parameters=[
robot_description_kinematics, robot_description,
robot_description_semantic, {
'use_sim_time': True
}
])
return LaunchDescription([
webots, controller, robot_state_publisher, rviz_node,
run_move_group_node,
RegisterEventHandler(event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[EmitEvent(event=launch.events.Shutdown())],
))
])