-
Notifications
You must be signed in to change notification settings - Fork 91
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
81dca71
commit 6dd8e49
Showing
5 changed files
with
457 additions
and
11 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
97 changes: 97 additions & 0 deletions
97
gz_ros2_control_demos/launch/pendulum_example_effort.launch.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,97 @@ | ||
| # Copyright 2024 ros2_control Development Team | ||
| # | ||
| # 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. | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription | ||
| from launch.actions import RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution | ||
|
|
||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| # Launch Arguments | ||
| use_sim_time = LaunchConfiguration('use_sim_time', default=True) | ||
|
|
||
| # Get URDF via xacro | ||
| robot_description_content = Command( | ||
| [ | ||
| PathJoinSubstitution([FindExecutable(name="xacro")]), | ||
| " ", | ||
| PathJoinSubstitution( | ||
| [FindPackageShare("gz_ros2_control_demos"), | ||
| "urdf", "test_pendulum_effort.xacro.urdf"] | ||
| ), | ||
| ] | ||
| ) | ||
| robot_description = {"robot_description": robot_description_content} | ||
|
|
||
| node_robot_state_publisher = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[robot_description] | ||
| ) | ||
|
|
||
| gz_spawn_entity = Node( | ||
| package='ros_gz_sim', | ||
| executable='create', | ||
| output='screen', | ||
| arguments=["-topic", "robot_description", | ||
| "-name", "cart", "-allow_renaming", "true"], | ||
| ) | ||
|
|
||
| load_joint_state_broadcaster = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| load_joint_effort_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', | ||
| '--set-state', 'active', 'effort_controller'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| # Launch gazebo environment | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), | ||
| 'launch', | ||
| 'gz_sim.launch.py'])]), | ||
| launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=gz_spawn_entity, | ||
| on_exit=[load_joint_state_broadcaster], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_joint_state_broadcaster, | ||
| on_exit=[load_joint_effort_controller], | ||
| ) | ||
| ), | ||
| node_robot_state_publisher, | ||
| gz_spawn_entity, | ||
| # Launch Arguments | ||
| DeclareLaunchArgument( | ||
| 'use_sim_time', | ||
| default_value=use_sim_time, | ||
| description='If true, use simulated clock'), | ||
| ]) |
97 changes: 97 additions & 0 deletions
97
gz_ros2_control_demos/launch/pendulum_example_position.launch.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,97 @@ | ||
| # Copyright 2024 ros2_control Development Team | ||
| # | ||
| # 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. | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription | ||
| from launch.actions import RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution | ||
|
|
||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| # Launch Arguments | ||
| use_sim_time = LaunchConfiguration('use_sim_time', default=True) | ||
|
|
||
| # Get URDF via xacro | ||
| robot_description_content = Command( | ||
| [ | ||
| PathJoinSubstitution([FindExecutable(name="xacro")]), | ||
| " ", | ||
| PathJoinSubstitution( | ||
| [FindPackageShare("gz_ros2_control_demos"), | ||
| "urdf", "test_pendulum_position.xacro.urdf"] | ||
| ), | ||
| ] | ||
| ) | ||
| robot_description = {"robot_description": robot_description_content} | ||
|
|
||
| node_robot_state_publisher = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[robot_description] | ||
| ) | ||
|
|
||
| gz_spawn_entity = Node( | ||
| package='ros_gz_sim', | ||
| executable='create', | ||
| output='screen', | ||
| arguments=["-topic", "robot_description", | ||
| "-name", "cart", "-allow_renaming", "true"], | ||
| ) | ||
|
|
||
| load_joint_state_broadcaster = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| load_joint_trajectory_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_trajectory_controller'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| # Launch gazebo environment | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), | ||
| 'launch', | ||
| 'gz_sim.launch.py'])]), | ||
| launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=gz_spawn_entity, | ||
| on_exit=[load_joint_state_broadcaster], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_joint_state_broadcaster, | ||
| on_exit=[load_joint_trajectory_controller], | ||
| ) | ||
| ), | ||
| node_robot_state_publisher, | ||
| gz_spawn_entity, | ||
| # Launch Arguments | ||
| DeclareLaunchArgument( | ||
| 'use_sim_time', | ||
| default_value=use_sim_time, | ||
| description='If true, use simulated clock'), | ||
| ]) |
Oops, something went wrong.