Attached arm to rover, arm moving script added
This commit is contained in:
Marcin M
@@ -3,6 +3,13 @@ from moveit_configs_utils.launches import generate_move_group_launch
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def generate_launch_description():
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moveit_config = MoveItConfigsBuilder("six_axis_arm", package_name="arm_moveit_config").to_moveit_configs()
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#moveit_config = MoveItConfigsBuilder("six_axis_arm", package_name="arm_moveit_config").to_moveit_configs()
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moveit_config = (
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MoveItConfigsBuilder("six_axis_arm", package_name="arm_moveit_config")
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# Overrides the parameters dictionary layout natively
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.to_moveit_configs()
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)
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# Manually append use_sim_time to the master parameter dictionaries
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moveit_config.robot_description_kinematics["use_sim_time"] = True
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return generate_move_group_launch(moveit_config)
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@@ -1,74 +1,94 @@
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import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, RegisterEventHandler
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from launch.actions import IncludeLaunchDescription, RegisterEventHandler, TimerAction
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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# Absolute and relative path variables
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world_path = './src/world_description/corn_field.sdf'
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arm_urdf_path = '/home/marcin/arm_ws/robotarm_description/urdf/robot_arm.urdf'
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rover_sdf_path = '/home/marcin/arm_ws/src/world_description/harvester.sdf'
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def generate_launch_description():
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# 1. Define package directories (Adjust names if yours differ)
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moveit_config_pkg = get_package_share_directory('arm_moveit_config')
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# 2. Include the standard MoveIt 2 move_group launch file
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# This automatically loads the robot description (URDF/XACRO) and handles robot_state_publisher
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# 1. Include the standard MoveIt 2 move_group launch file (Delayed for stability)
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move_group_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(moveit_config_pkg, 'launch', 'move_group.launch.py')
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)
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)
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# 3. Launch Gazebo Sim (Modern Gazebo) empty world
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# 2. Launch Gazebo Sim (Modern Gazebo) loaded directly into your field world
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gazebo_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')
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),
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launch_arguments={'gz_args': '-r empty.sdf'}.items(), # '-r' runs simulation immediately
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launch_arguments={'gz_args': '-r ' + world_path }.items(),
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)
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# 4. Spawn the robot entity inside the Gazebo world
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# It listens to the /robot_description topic published by MoveIt's robot_state_publisher
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spawn_robot = Node(
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# 3. MODIFIED: Spawns the ENTIRE rover model from the master SDF file.
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# Because your SDF includes the arm internally, Gazebo builds the combined asset together.
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spawn_complete_rover = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-topic', 'robot_description',
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'-name', 'six_axis_arm',
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'-z', '0.0' # Adjust if your base needs to sit higher
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'-file', rover_sdf_path,
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'-name', 'harvester_robot', # Matches the model namespace inside your world bridges
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'-z', '0.1' # Clear the field ground mesh on entry
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],
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output='screen',
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)
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# 5. Define ros2_control Spawners
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# Broadcaster for joint states (vital for MoveIt to know where the arm currently is)
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# 4. Define ros2_control Spawners
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joint_state_broadcaster_spawner = Node(
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package='controller_manager',
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executable='spawner',
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arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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# Trajectory controller for sending trajectory paths to Gazebo
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arm_controller_spawner = Node(
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package='controller_manager',
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executable='spawner',
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arguments=['arm_controller', '--controller-manager', '/controller_manager'],
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package="controller_manager",
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executable="spawner",
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arguments=["arm_controller", "--controller-manager", "/controller_manager"],
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)
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# 6. Bridge Gazebo Clock to ROS 2 (Crucial for simulation time syncing)
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# 5. Bridge Gazebo Clock and Data Channels to ROS 2 Jazzy
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bridge = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
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arguments=[
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'/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
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'/world/corn_field_wide/model/harvester_robot/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model',
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'/model/harvester_robot/joint/joint_1/cmd_pos@std_msgs/msg/Float64]gz.msgs.Double'
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],
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output='screen'
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)
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# 7. Delay controller spawning until AFTER the robot is spawned in Gazebo
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# This prevents ros2_control from crashing due to Gazebo not being ready yet
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# 6. Process the xacro file dynamically for the ROS 2 Kinematics Stack
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xacro_file = os.path.join(
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get_package_share_directory('robotarm_description'),
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'urdf',
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'robot_arm.urdf.xacro'
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)
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robot_description_raw = xacro.process_file(xacro_file).toxml()
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# 7. Robot State Publisher (Feeds the mathematical link tree strictly to MoveIt 2)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='both',
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parameters=[{'robot_description': robot_description_raw, 'use_sim_time': True}]
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)
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# 8. Timing/Order Sequence Event Handlers
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# Waits for the COMPLETE rover to exist before spinning up hardware controller instances
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delay_joint_state_broadcaster = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=spawn_robot,
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target_action=spawn_complete_rover,
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on_exit=[joint_state_broadcaster_spawner],
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)
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)
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@@ -79,41 +99,18 @@ def generate_launch_description():
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on_exit=[arm_controller_spawner],
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)
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)
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delay_move_group_launch = TimerAction(
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period=5.0,
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actions=[move_group_launch]
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)
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import xacro
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# ... inside generate_launch_description() ...
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# 1. Path to your actual Xacro file
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xacro_file = os.path.join(
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get_package_share_directory('robotarm_description'), # Change to your description pkg
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'urdf',
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'robot_arm.urdf.xacro' # Change to your actual file name
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)
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# 2. Process the xacro file into raw XML text
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robot_description_raw = xacro.process_file(xacro_file).toxml()
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# 3. Add the explicit Robot State Publisher Node
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robot_state_publisher_node = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[{'robot_description': robot_description_raw, 'use_sim_time': True}]
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)
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return LaunchDescription([
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gazebo_launch,
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delay_move_group_launch,
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#move_group_launch,
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spawn_robot,
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spawn_complete_rover, # Spawns the single, complete vehicle
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robot_state_publisher,
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bridge,
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delay_joint_state_broadcaster,
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delay_arm_controller,
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robot_state_publisher_node,
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delay_move_group_launch,
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])
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