moveit_task_constructor/demo/launch/alternative_path_costs.launch.py
2021-11-25 23:02:54 +03:00

74 lines
2.6 KiB
Python

import os
import yaml
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
def load_file(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)
try:
with open(absolute_file_path, "r") as file:
return file.read()
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None
def load_yaml(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)
try:
with open(absolute_file_path, "r") as file:
return yaml.safe_load(file)
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None
def generate_launch_description():
# Get URDF and SRDF
robot_description_config = load_file(
"moveit_resources_panda_description", "urdf/panda.urdf"
)
robot_description = {"robot_description": robot_description_config}
robot_description_semantic_config = load_file(
"moveit_resources_panda_moveit_config", "config/panda.srdf"
)
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_config
}
kinematics_yaml = load_yaml(
"moveit_resources_panda_moveit_config", "config/kinematics.yaml"
)
# Planning Functionality
ompl_planning_pipeline_config = {
"move_group": {
"planning_plugin": "ompl_interface/OMPLPlanner",
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
"start_state_max_bounds_error": 0.1,
}
}
ompl_planning_yaml = load_yaml(
"moveit_resources_panda_moveit_config", "config/ompl_planning.yaml"
)
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
cartesian_task = Node(
package="moveit_task_constructor_demo",
executable="alternative_path_costs",
output="screen",
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
ompl_planning_pipeline_config,
],
)
return LaunchDescription([cartesian_task])