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MattiaDeiRossiMattiaDeiRossi
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combofox display fixed
1 parent d5d6dc9 commit a468bde

5 files changed

Lines changed: 163 additions & 55 deletions

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‎launch/combofox_display.launch.py‎

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# @brief Launch file for visualizing the models of the combofox robot
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#
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# @author Mattia Dei Rossi <mattia.deirossi@innobotics.it>
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# @copyright (C) IBT
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import os
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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.substitutions import Command, FindExecutable, LaunchConfiguration
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"arm_type",
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description="Type/series of used IBT robot.",
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choices=["robofox_61814v3"],
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default_value="robofox_61814v3",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"arm_prefix",
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default_value='robofox',
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description="Prefix of the joint names, useful for multi-robot setup."
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)
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)
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arm_type = LaunchConfiguration("arm_type")
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arm_prefix = LaunchConfiguration("arm_prefix")
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pkg_dir = get_package_share_directory('ibt_ros2_description')
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# Configuration files
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xacro_file = os.path.join(pkg_dir, 'xacro', 'combofox/combofox.urdf.xacro')
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robot_description = Command([FindExecutable(name='xacro'),
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' ', xacro_file,
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' ', 'arm_type:=', arm_type,
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' ', 'arm_prefix:=', arm_prefix
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])
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rviz_config_path = os.path.join(pkg_dir, 'config', 'config.rviz')
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# Nodes
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robot_state_publisher_node = Node(
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name='robot_state_publisher',
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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=[
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{'robot_description': robot_description}
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]
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)
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joint_state_publisher_gui_node = Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui'
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=[
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'-d', rviz_config_path
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]
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)
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nodes = [
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robot_state_publisher_node,
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joint_state_publisher_gui_node,
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rviz_node
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]
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return LaunchDescription(declared_arguments + nodes)

‎launch/robofox_display.launch.py‎

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -16,32 +16,31 @@ def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robofox_type",
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"arm_type",
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description="Type/series of used IBT robot.",
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choices=["robofox_61814v3"],
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default_value="robofox_61814v3",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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"arm_prefix",
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default_value='robofox',
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description="Prefix of the joint names, useful for multi-robot setup."
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)
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)
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robofox_type = LaunchConfiguration("robofox_type")
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prefix = LaunchConfiguration("prefix")
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arm_type = LaunchConfiguration("arm_type")
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arm_prefix = LaunchConfiguration("arm_prefix")
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pkg_dir = get_package_share_directory('ibt_ros2_description')
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# Configuration files
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xacro_file = os.path.join(pkg_dir, 'xacro', 'robofox/robofox.urdf.xacro')
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robot_description = Command([FindExecutable(name='xacro'),
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' ', xacro_file,
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' ', 'name:=robofox',
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' ', 'robofox_type:=', robofox_type,
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' ', 'prefix:=', prefix
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' ', 'arm_type:=', arm_type,
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' ', 'arm_prefix:=', arm_prefix
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])
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rviz_config_path = os.path.join(pkg_dir, 'config', 'config.rviz')
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‎xacro/combofox/combofox.urdf.xacro‎

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<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="amr">
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<!-- Arguments for robofox -->
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<xacro:arg name="arm_prefix" default="robofox" />
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<xacro:arg name="arm_type" default="robofox_61814v3" />
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<xacro:arg name="physical_params_file"
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default="$(find ibt_ros2_description)/config/$(arg arm_type)/physical_parameters.yaml" />
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<xacro:arg name="joint_limits_file"
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default="$(find ibt_ros2_description)/config/$(arg arm_type)/joint_limits.yaml" />
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<!-- Amr combo base -->
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<xacro:include filename="$(find ibt_ros2_description)/xacro/amr/amr.xacro" />
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<!-- Robotic arm -->
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<xacro:include filename="$(find ibt_ros2_description)/xacro/robofox/robofox.xacro" />
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<!-- Instances -->
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<xacro:amr name="base_footprint" parent="base_link">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:amr>
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<xacro:robofox
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arm_prefix="robofox"
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physical_params_file="$(arg physical_params_file)"
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joint_limits_file="$(arg joint_limits_file)"
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arm_type="$(arg arm_type)"
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connected_to="agv_link1"
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>
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<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
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</xacro:robofox>
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</robot>

‎xacro/robofox/robofox.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robofox">
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<xacro:arg name="prefix" default="robofox" />
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<xacro:arg name="robofox_type" default="robofox_61814v3" />
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<xacro:arg name="arm_prefix" default="robofox" />
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<xacro:arg name="arm_type" default="robofox_61814v3" />
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<xacro:arg name="physical_params_file"
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default="$(find ibt_ros2_description)/config/$(arg robofox_type)/physical_parameters.yaml" />
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default="$(find ibt_ros2_description)/config/$(arg arm_type)/physical_parameters.yaml" />
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<xacro:arg name="joint_limits_file"
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default="$(find ibt_ros2_description)/config/$(arg robofox_type)/joint_limits.yaml" />
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default="$(find ibt_ros2_description)/config/$(arg arm_type)/joint_limits.yaml" />
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<xacro:include filename="$(find ibt_ros2_description)/xacro/robofox/robofox.xacro" />
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<xacro:robofox
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prefix="$(arg prefix)"
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arm_prefix="$(arg arm_prefix)"
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physical_params_file="$(arg physical_params_file)"
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joint_limits_file="$(arg joint_limits_file)"
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robofox_type="$(arg robofox_type)"
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arm_type="$(arg arm_type)"
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>
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:robofox>

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