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(cherry picked from commit 27af210) # Conflicts: # ign_ros2_control_demos/launch/pendulum_example_effort.launch.py # ign_ros2_control_demos/launch/pendulum_example_position.launch.py # ign_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf # ign_ros2_control_demos/urdf/test_pendulum_position.xacro.urdf Co-authored-by: Christoph Fröhlich <[email protected]>
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ign_ros2_control_demos/launch/pendulum_example_effort.launch.py
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| 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 | ||
|
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||
|
|
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| 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
ign_ros2_control_demos/launch/pendulum_example_position.launch.py
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| 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'), | ||
| ]) |
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