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jetbot.launch.py
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jetbot.launch.py
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# Copyright 2020 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.
#
# This file was last modified by Michael Hart, a.k.a Mike Likes Robots
# ([email protected]), on 2024-03-07.
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.substitutions import (
Command,
FindExecutable,
PathJoinSubstitution,
LaunchConfiguration,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"use_mock_hardware",
default_value="false",
description="Start robot with mock hardware mirroring command to its states.",
)
)
# Initialize Arguments
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("jetbot_control"), "urdf", "jetbot.urdf.xacro"]
),
" ",
"use_mock_hardware:=",
use_mock_hardware,
]
)
robot_description = {"robot_description": robot_description_content}
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("jetbot_control"),
"config",
"jetbot_controllers.yaml",
]
)
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
output="both",
)
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=[
"jetbot_base_controller",
"--controller-manager",
"/controller_manager",
],
)
nodes = [
control_node,
robot_controller_spawner,
]
return LaunchDescription(declared_arguments + nodes)