Hi! I have been trying to launch the 5dof lss-arm in gazebo in a specified location. I’ve managed to launch rviz, but the arm doesn’t appear.
I’ve added the x, y, z and yaw launch arguments for the the robot_lss_arm.launch.py file that comes with the lss_sim_moveit_example package from the official repository.
The new launch file:
#!/usr/bin/env -S ros2 launch
"""Launch script for spawning LSS 4DoF/5DoF Arm into Gazebo world"""
from typing import List
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PythonExpression
def generate_launch_description() -> LaunchDescription:
# Declare all launch arguments
declared_arguments = generate_declared_arguments()
# Get substitution for all arguments
dof = LaunchConfiguration("dof")
use_sim_time = LaunchConfiguration("use_sim_time")
log_level = LaunchConfiguration("log_level")
x = LaunchConfiguration("x")
y = LaunchConfiguration("y")
z = LaunchConfiguration("z")
yaw = LaunchConfiguration("yaw")
model = PythonExpression(["'lss_arm_", dof, "dof'"])
# List of nodes to be launched
nodes = [
Node(
package="ros_ign_gazebo",
executable="create",
output="log",
arguments=["-file", model, "--ros-args", "--log-level", log_level],
parameters=[{"use_sim_time": use_sim_time}],
),
]
# Declare namespace
return LaunchDescription(declared_arguments + nodes)
def generate_declared_arguments() -> List[DeclareLaunchArgument]:
"""
Generate list of all launch arguments that are declared for this launch script.
"""
return [
# Gripper
DeclareLaunchArgument(
"dof",
default_value='5',
choices=['4','5'],
description="Parameter to select gripper model."
),
# Miscellaneous
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="If true, use simulated clock.",
),
DeclareLaunchArgument(
"log_level",
default_value="warn",
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
),
# position
DeclareLaunchArgument(
"x",
default_value='0.0',
description='X coordinate for the robot\'s initial position.'
),
DeclareLaunchArgument(
"y",
default_value='0.0',
description='Y coordinate for the robot\'s initial position.'
),
DeclareLaunchArgument(
"z",
default_value='0.0',
description='Z coordinate for the robot\'s initial position.'
),
DeclareLaunchArgument(
"yaw",
default_value='0.0',
description='Yaw angle for the robot\'s initial position.'
),
]
The launch file with turtlebot4 and the arm:
# Adopted from https://github.com/turtlebot/turtlebot4_simulator/blob/humble/turtlebot4_ignition_bringup/launch/turtlebot4_ignition.launch.py
from ament_index_python.packages import get_package_share_directory
from os import path
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
ARGUMENTS = [
DeclareLaunchArgument('namespace', default_value='',
description='Robot namespace'),
DeclareLaunchArgument('rviz', default_value='true',
choices=['true', 'false'], description='Start rviz.'),
DeclareLaunchArgument('autostart', default_value='true',
choices=['true', 'false'], description='Auto start the nav2 stack.'),
DeclareLaunchArgument('description', default_value='true',
choices=['true', 'false'], description='Launch tb3 description server'),
DeclareLaunchArgument('use_respawn', default_value='true',
choices=['true', 'false'], description='Launch tb3 description server'),
DeclareLaunchArgument('world', default_value='warehouse',
description='Ignition World'),
DeclareLaunchArgument('model', default_value='lite',
choices=['standard', 'lite'],
description='Turtlebot4 Model'),
DeclareLaunchArgument('localization', default_value='true',
choices=['true', 'false'], description='Start localization.'),
DeclareLaunchArgument('nav2', default_value='true',
choices=['true', 'false'], description='Start nav2.'),
DeclareLaunchArgument('params_file', default_value=f'{get_package_share_directory("rome_sim")}/params/nav2_params.yaml',
description='Full path to Nav2 params file.'),
DeclareLaunchArgument('map',
default_value=f'{get_package_share_directory("rome_sim")}/maps/warehouse.yaml',
description='Full path to map yaml.'),
# Gripper
DeclareLaunchArgument(
"dof",
default_value='5',
choices=['4','5'],
description="Parameter to select gripper model."
),
# miscellaneous
DeclareLaunchArgument(
"rviz_config",
default_value=path.join(
get_package_share_directory("lss_sim_moveit_example"),
"rviz",
"lss_sim_moveit.rviz",
),
description="Path to configuration for RViz2.",
),
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="If true, use simulated clock.",
),
DeclareLaunchArgument(
"ign_verbosity",
default_value="2",
description="Verbosity level for Gazebo (0~4).",
),
DeclareLaunchArgument(
"log_level",
default_value="warn",
description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
),
]
for pose_element in ['x', 'y', 'z', 'yaw']:
ARGUMENTS.append(DeclareLaunchArgument(pose_element, default_value='0.0',
description=f'{pose_element} component of the robot pose.'))
def generate_launch_description():
# Directories
pkg_turtlebot4_ignition_bringup = get_package_share_directory(
'turtlebot4_ignition_bringup')
# Paths
ignition_launch = PathJoinSubstitution(
[pkg_turtlebot4_ignition_bringup, 'launch', 'ignition.launch.py'])
robot_spawn_launch = PathJoinSubstitution(
[pkg_turtlebot4_ignition_bringup, 'launch', 'turtlebot4_spawn.launch.py'])
ignition = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ignition_launch]),
launch_arguments=[
('world', LaunchConfiguration('world'))
]
)
robot_spawn = IncludeLaunchDescription(
PythonLaunchDescriptionSource([robot_spawn_launch]),
launch_arguments=[
('namespace', LaunchConfiguration('namespace')),
('rviz', LaunchConfiguration('rviz')),
('autostart', LaunchConfiguration('autostart')),
('description', LaunchConfiguration('description')),
('use_respawn', LaunchConfiguration('use_respawn')),
('x', LaunchConfiguration('x')),
('y', LaunchConfiguration('y')),
('z', LaunchConfiguration('z')),
('yaw', LaunchConfiguration('yaw')),
('map', LaunchConfiguration('map')),
('nav2', LaunchConfiguration('nav2')),
('localization', LaunchConfiguration('localization')),
('params_file', LaunchConfiguration('params_file')),]
)
# Spawn arm
lss_arm_spawn = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("lss_sim_moveit_example"),
"launch",
"robots",
"robot_lss_arm.launch.py",
]
)
),
launch_arguments=[
("dof", LaunchConfiguration("dof")),
("use_sim_time", LaunchConfiguration("use_sim_time")),
("ign_verbosity", LaunchConfiguration("ign_verbosity")),
("log_level", LaunchConfiguration("log_level")),
("x", LaunchConfiguration('x')),
("y", '1.0'),
("z", LaunchConfiguration('z')),
("yaw", LaunchConfiguration('yaw')),
]
)
# Launch move_group of MoveIt 2
moveit2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare(["lss_arm_moveit"]),
"launch",
"move_arm.launch.py",
]
)
),
launch_arguments=[
("dof", LaunchConfiguration("dof")),
("ros2_control_plugin", "sim"),
("collision", "true"),
("rviz_config", LaunchConfiguration("rviz_config")),
("use_sim_time", LaunchConfiguration("use_sim_time")),
("log_level", LaunchConfiguration("log_level")),
]
)
# Create launch description and add actions
ld = LaunchDescription(ARGUMENTS)
ld.add_action(ignition)
ld.add_action(robot_spawn)
ld.add_action(lss_arm_spawn)
ld.add_action(moveit2)
return ld
Is this the right way to specify the coordinates of the arm?