Merge pull request #147 from K3cks/virtual-building-setup

[virtual building]: Added method to launch robots with script

demos/pycram_virtual_building_demos/setup/launch_robot.py

@@ -0,0 +1,52 @@
+import time
+import roslaunch
+import rospy
+import rospkg
+
+
+def launch_pr2():
+    """
+    Method to launch PR2 on the parameter server and start the ik service
+    """
+    # name = 'pr2'
+    # urdf = 'pr2.urdf'
+    executable = 'pr2_standalone.launch'
+    launch_robot(executable)
+
+
+# For future work / robots
+# def launch_hsrb():
+#    # name = 'hsrb'
+#    # urdf = 'hsrb.urdf'
+#    executable = 'hsrb_standalone.launch'
+#    launch_robot(executable)
+
+
+# def launch_armar6():
+#    # name = 'armar6'
+#    # urdf = 'armar6.urdf'
+#    executable = 'armar6_standalone.launch'
+#    launch_robot(executable)
+
+
+def launch_robot(launch_file, package='pycram', launch_folder='/launch/'):
+    """
+    General method to start a specified launch file with given parameters.
+    Default location for launch files here is in the folder 'launch' inside the pycram package
+
+    :param launch_file: File name of the launch file
+    :param package: Name of the package
+    :param launch_folder: Location of the launch file inside the package
+    """
+
+    rospath = rospkg.RosPack()
+
+    uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+    roslaunch.configure_logging(uuid)
+    launch = roslaunch.parent.ROSLaunchParent(uuid, [rospath.get_path(package) + launch_folder + launch_file])
+    launch.start()
+
+    rospy.loginfo(f'{launch_file} started')
+
+    # Wait for ik server to launch
+    time.sleep(2)

launch/pr2_standalone.launch

@@ -0,0 +1,26 @@
+<launch>
+  <arg name="use_knowrob" default="false"/>
+
+<node pkg="kdl_ik_service" type="start_ros_server.py" name="kdl_ik_service" output="screen" />
+
+  <!-- PR2 URDF -->
+  <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_larm_node.launch"/>
+  <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_rarm_node.launch"/>
+  <param name="robot_description"
+         textfile="$(find pycram)/resources/pr2.urdf"/>
+
+
+  <!-- Use Knowrob -->
+  <group if="$(eval use_knowrob)">
+      <include file="$(find knowrob)/launch/knowrob.launch"/>
+  </group>
+
+<!--
+  In ROS Noetic the xacro file for boxy doesnt seem to work, as a quick fix use the line above
+  <include file="$(find iai_boxy_description)/launch/upload_boxy.launch" />
+-->
+<!--
+<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+-->
+
+</launch>