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Add XML launchfile (backport #382) (#383)
* Add view_robot.launch.xml * Include in python launchfile * Update documentation
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Lines changed: 71 additions & 141 deletions

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‎README.md‎

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To visualize the robot install this repository to you workspace and execute the following:
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``` bash
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ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
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ros2 launch ur_description view_ur.launch.xml ur_type:=ur5e
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```
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To test other descriptions change the `ur_type` argument.

‎launch/view_ur.launch.py‎

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# Author: Denis Stogl
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.parameter_descriptions import ParameterValue
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import FrontendLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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def generate_launch_description():
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declared_arguments = []
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# UR specific arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"ur_type",
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description="Type/series of used UR robot.",
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choices=[
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"ur3",
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"ur5",
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"ur10",
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"ur3e",
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"ur5e",
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"ur7e",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur8long",
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"ur15",
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"ur18",
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"ur20",
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"ur30",
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],
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ur_description",
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description="Description package with robot URDF/XACRO files. Usually the argument "
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"is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="ur.urdf.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"tf_prefix",
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default_value='""',
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description="Prefix of the joint names, useful for "
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"multi-robot setup. If changed than also joint names in the controllers' configuration "
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"have to be updated.",
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)
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)
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# Initialize Arguments
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ur_type = LaunchConfiguration("ur_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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tf_prefix = LaunchConfiguration("tf_prefix")
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robot_description_content = Command(
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def generate_launch_description():
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return LaunchDescription(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
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" ",
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"safety_limits:=",
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safety_limits,
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" ",
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"safety_pos_margin:=",
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safety_pos_margin,
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" ",
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"safety_k_position:=",
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safety_k_position,
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" ",
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"name:=",
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"ur",
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" ",
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"ur_type:=",
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ur_type,
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" ",
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"tf_prefix:=",
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tf_prefix,
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IncludeLaunchDescription(
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FrontendLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare("ur_description"),
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"launch",
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"view_ur.launch.xml",
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]
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)
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]
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),
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launch_arguments={
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"ur_type": LaunchConfiguration("ur_type"),
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}.items(),
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)
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]
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)
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robot_description = {
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"robot_description": ParameterValue(value=robot_description_content, value_type=str)
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}
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(description_package), "rviz", "view_robot.rviz"]
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)
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joint_state_publisher_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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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="both",
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parameters=[robot_description],
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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="log",
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arguments=["-d", rviz_config_file],
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)
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nodes_to_start = [
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joint_state_publisher_node,
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robot_state_publisher_node,
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rviz_node,
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]
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return LaunchDescription(declared_arguments + nodes_to_start)

‎launch/view_ur.launch.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="description_package"
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default="ur_description"
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description="Description package with robot URDF/XACRO files. Usually the argument is not set, it enables use of a custom description." />
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<arg name="description_file"
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default="ur.urdf.xacro"
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description="URDF/XACRO description file with the robot." />
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<arg name="ur_type" description="Type/series of used UR robot.">
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<choice value="ur3"/>
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<choice value="ur5"/>
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<choice value="ur10"/>
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<choice value="ur3e"/>
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<choice value="ur5e"/>
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<choice value="ur7e"/>
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<choice value="ur10e"/>
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<choice value="ur12e"/>
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<choice value="ur16e"/>
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<choice value="ur8long"/>
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<choice value="ur15"/>
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<choice value="ur18"/>
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<choice value="ur20"/>
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<choice value="ur30"/>
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</arg>
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<arg name="tf_prefix"
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default=""
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description="Prefix of the joint names, useful for multi-robot setup. If changed than also joint names in the controllers' configuration have to be updated." />
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<arg name="safety_limits"
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default="true"
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description="Enables the safety limits controller if true." />
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<arg name="safety_pos_margin"
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default="0.15"
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description="The margin to lower and upper limits in the safety controller." />
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<arg name="safety_k_position"
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default="20"
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description="The gain for the position controller in the safety controller." />
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<node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
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<node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share $(var description_package))/rviz/view_robot.rviz" />
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<node pkg="robot_state_publisher" exec="robot_state_publisher">
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<param name="robot_description" value="$(command '$(find-exec xacro) $(find-pkg-share $(var description_package))/urdf/$(var description_file)
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ur_type:=$(var ur_type)
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name:=ur
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safety_limits:=$(var safety_limits)
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safety_pos_margin:=$(var safety_pos_margin)
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safety_k_position:=$(var safety_k_position)
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tf_prefix:=$(var tf_prefix)')"/>
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</node>
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</launch>

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