dual_arm_panda_moveit_config/launch/demo.launch.py

dual_arm_panda_moveit_config/launch/demo.launch.py

demo.launch.py

import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder

# 生成启动描述函数
def generate_launch_description():

    # 配置 MoveIt
    moveit_config = (
        MoveItConfigsBuilder("dual_arm_panda")
        .robot_description(file_path="config/panda.urdf.xacro")
        .robot_description_semantic(file_path="config/panda.srdf")
        .trajectory_execution(file_path="config/moveit_controllers.yaml")
        .planning_pipelines(pipelines=["ompl"])
        .to_moveit_configs()
    )

    # 启动 move_group 节点/动作服务器
    move_group_node = Node(
        package="moveit_ros_move_group",
        executable="move_group",
        output="screen",
        parameters=[moveit_config.to_dict()],
    )

    # RViz 配置
    rviz_config = os.path.join(
        get_package_share_directory("dual_arm_panda_moveit_config"),
        "launch/moveit.rviz",
    )
    rviz_node = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        arguments=["-d", rviz_config],
        parameters=[
            moveit_config.robot_description,
            moveit_config.robot_description_semantic,
            moveit_config.planning_pipelines,
            moveit_config.robot_description_kinematics,
        ],
    )

    # 发布 TF
    robot_state_publisher = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        name="robot_state_publisher",
        output="both",
        parameters=[moveit_config.robot_description],
    )

    # 使用 FakeSystem 作为硬件的 ros2_control
    ros2_controllers_path = os.path.join(
        get_package_share_directory("dual_arm_panda_moveit_config"),
        "config/",
        "ros2_controllers.yaml",
    )
    ros2_control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[ros2_controllers_path],
        remappings=[
            ("/controller_manager/robot_description", "/robot_description"),
        ],
        output="both",
    )

    # 加载控制器
    load_controllers = []
    for controller in [
        "joint_state_broadcaster",
        "left_arm_controller",
        "right_arm_controller",
    ]:
        load_controllers += [
            ExecuteProcess(
                cmd=["ros2 run controller_manager spawner {}".format(controller)],
                shell=True,
                output="screen",
            )
        ]

    # 返回启动描述
    return LaunchDescription(
        [
            rviz_node,
            robot_state_publisher,
            move_group_node,
            ros2_control_node,
        ]
        + load_controllers
    )