Merge mg_wheel_interface with magrob

2025-02-22 15:48:08 +01:00
parent 9b051d2103
commit b5d474ff01
10 changed files with 487 additions and 0 deletions
--- a/mg_control/launch/launch.py
+++ b/mg_control/launch/launch.py
@ -0,0 +1,67 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction
+from launch.event_handlers import OnProcessStart
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+
+
+def generate_launch_description():
+
+    is_local_test = DeclareLaunchArgument(
+        'local_test',
+        default_value="False",
+        description='Launch with simulated components'
+    )
+
+    basedir = FindPackageShare("mg_control")
+    urdfDescription = PathJoinSubstitution([basedir, 
+                                            "assets",
+                                            PythonExpression([
+                                                "'mg_base_local.urdf' if ",
+                                                LaunchConfiguration('local_test'),
+                                                " else 'mg_base.urdf'"])
+                                            ])
+    yamlControllers = PathJoinSubstitution([basedir,
+                                            "assets",
+                                            PythonExpression([
+                                                "'mg_base_controllers_local.yaml' if( ",
+                                                LaunchConfiguration('local_test'),
+                                                ") else 'mg_base_controllers.yaml'"])
+                                            ])
+
+    urdf = PythonExpression(["open('",urdfDescription, "').read()"])
+
+    return LaunchDescription([
+        is_local_test,
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output="log",
+            parameters=[{"robot_description": urdf}]
+        ),
+        Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            parameters=[yamlControllers],
+            output="log"
+        ),
+        Node(
+            package='controller_manager',
+            executable='spawner',
+            output="screen",
+            arguments=["joint_state_publisher"]
+        ),
+        Node(
+            package="controller_manager",
+            executable="spawner",
+            arguments=["diffdrive_controller", 
+                       "--param-file", 
+                       yamlControllers, 
+                    ]
+        ) 
+    ])
+