demo: replace individual launch files with common run.launch.py

Launch individual binaries with:
ros2 launch moveit_task_constructor_demo run.launch.py exe:=<binary>
This commit is contained in:
Robert Haschke 2024-07-11 14:01:42 +02:00
parent 646a49f1fb
commit bbc34d2b97
6 changed files with 7 additions and 144 deletions

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@ -1,25 +0,0 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.to_moveit_configs()
)
cartesian_task = Node(
package="moveit_task_constructor_demo",
executable="cartesian",
output="screen",
parameters=[
moveit_config.joint_limits,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
],
)
return LaunchDescription([cartesian_task])

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@ -1,28 +0,0 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"])
.to_moveit_configs()
)
fallbacks_move_to_task = Node(
package="moveit_task_constructor_demo",
executable="fallbacks_move_to",
output="screen",
parameters=[
moveit_config.pilz_cartesian_limits,
moveit_config.joint_limits,
moveit_config.planning_pipelines,
moveit_config.robot_description,
moveit_config.robot_description_kinematics,
moveit_config.robot_description_semantic,
],
)
return LaunchDescription([fallbacks_move_to_task])

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@ -1,25 +0,0 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.to_moveit_configs()
)
cartesian_task = Node(
package="moveit_task_constructor_demo",
executable="ik_clearance_cost",
output="screen",
parameters=[
moveit_config.joint_limits,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
],
)
return LaunchDescription([cartesian_task])

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@ -1,25 +0,0 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.to_moveit_configs()
)
modular_task = Node(
package="moveit_task_constructor_demo",
executable="modular",
output="screen",
parameters=[
moveit_config.joint_limits,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
],
)
return LaunchDescription([modular_task])

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@ -1,36 +0,0 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.planning_pipelines(pipelines=["ompl"])
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.to_moveit_configs()
)
pick_place_demo = Node(
package="moveit_task_constructor_demo",
executable="pick_place_demo",
output="screen",
parameters=[
os.path.join(
get_package_share_directory("moveit_task_constructor_demo"),
"config",
"panda_config.yaml",
),
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
moveit_config.planning_pipelines,
moveit_config.joint_limits,
],
)
return LaunchDescription([pick_place_demo])

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@ -1,4 +1,6 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
@ -7,21 +9,21 @@ def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.planning_pipelines(pipelines=["ompl"])
.to_moveit_configs()
)
cartesian_task = Node(
node = Node(
package="moveit_task_constructor_demo",
executable="alternative_path_costs",
executable=LaunchConfiguration("exe"),
output="screen",
parameters=[
moveit_config.joint_limits,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
moveit_config.joint_limits,
moveit_config.planning_pipelines,
],
)
return LaunchDescription([cartesian_task])
arg = DeclareLaunchArgument(name="exe")
return LaunchDescription([arg, node])