From 10c32bb2a1f628006471bdbe25d9a26f9509fb68 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Thu, 24 Jun 2021 15:34:05 +0200 Subject: [PATCH] add new launch file structure --- launch/application.launch | 41 ------------------ launch/application_demo.launch | 43 ------------------- .../_robot_setup.launch} | 0 .../_simulation_setup.launch} | 0 .../cleaning_dummy_cgv.launch} | 0 .../cleaning_dummy_controller.launch} | 0 ...ing_dummy_controller_and_dummy_cgv.launch} | 0 .../cleaning/cleaning_robot_controller.launch | 13 ++++++ ...ning_robot_controller_and_dummy_cgv.launch | 14 ++++++ launch/cleaning/cleaning_simulation.launch | 7 +++ .../cleaning_simulation_and_dummy_cgv.launch | 8 ++++ launch/simulation.launch | 20 --------- launch/simulation_demo.launch | 22 ---------- 13 files changed, 42 insertions(+), 126 deletions(-) delete mode 100644 launch/application.launch delete mode 100644 launch/application_demo.launch rename launch/{application_standalone.launch => cleaning/_robot_setup.launch} (100%) rename launch/{simulation_standalone.launch => cleaning/_simulation_setup.launch} (100%) rename launch/{dummy_cgv.launch => cleaning/cleaning_dummy_cgv.launch} (100%) rename launch/{dummy_cgv_connector.launch => cleaning/cleaning_dummy_controller.launch} (100%) rename launch/{dummy_cgv_and_cgv_connector.launch => cleaning/cleaning_dummy_controller_and_dummy_cgv.launch} (100%) create mode 100644 launch/cleaning/cleaning_robot_controller.launch create mode 100644 launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch create mode 100644 launch/cleaning/cleaning_simulation.launch create mode 100644 launch/cleaning/cleaning_simulation_and_dummy_cgv.launch delete mode 100644 launch/simulation.launch delete mode 100644 launch/simulation_demo.launch diff --git a/launch/application.launch b/launch/application.launch deleted file mode 100644 index ae5157c..0000000 --- a/launch/application.launch +++ /dev/null @@ -1,41 +0,0 @@ -<launch> - - <arg name="robot_ip" default="172.31.1.13" /> - <arg name="load_gripper" default="true" /> - - <include file="$(find franka_control)/launch/franka_control.launch" > - <arg name="robot_ip" value="$(arg robot_ip)" /> - <arg name="load_gripper" value="$(arg load_gripper)"/> - </include> - - <!-- Load joint controller configurations from YAML file to parameter server --> - <rosparam file="$(find ccf)/config/panda_control.yaml" command="load" /> - - <param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" /> - <param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" /> - - <!-- load the controllers --> - <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller " /> - - <include file="$(find panda_moveit_config)/launch/planning_context.launch"> - <arg name="load_robot_description" value="true" /> - <arg name="load_gripper" value="$(arg load_gripper)" /> - </include> - <include file="$(find panda_moveit_config)/launch/move_group.launch"> - <arg name="load_gripper" value="$(arg load_gripper)" /> - </include> - - <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 1 world panda_link0" /> - - <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" /> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - <rosparam file="$(find ccf)/config/config_realrobot.yaml" command="load" /> - - <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" /> - - <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - -</launch> \ No newline at end of file diff --git a/launch/application_demo.launch b/launch/application_demo.launch deleted file mode 100644 index 80dfe36..0000000 --- a/launch/application_demo.launch +++ /dev/null @@ -1,43 +0,0 @@ -<launch> - - <arg name="robot_ip" default="172.31.1.13" /> - <arg name="load_gripper" default="true" /> - - <include file="$(find franka_control)/launch/franka_control.launch" > - <arg name="robot_ip" value="$(arg robot_ip)" /> - <arg name="load_gripper" value="$(arg load_gripper)"/> - </include> - - <!-- Load joint controller configurations from YAML file to parameter server --> - <rosparam file="$(find ccf)/config/panda_control.yaml" command="load" /> - - <param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" /> - <param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" /> - - <!-- load the controllers --> - <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller " /> - - <include file="$(find panda_moveit_config)/launch/planning_context.launch"> - <arg name="load_robot_description" value="true" /> - <arg name="load_gripper" value="$(arg load_gripper)" /> - </include> - <include file="$(find panda_moveit_config)/launch/move_group.launch"> - <arg name="load_gripper" value="$(arg load_gripper)" /> - </include> - - <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 1 world panda_link0" /> - - <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" /> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - <rosparam file="$(find ccf)/config/config_realrobot.yaml" command="load" /> - - <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" /> - - <node pkg="ccf" type="dummy_cgv" name="dummy_cgv_instance" output="screen" /> - - <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - -</launch> diff --git a/launch/application_standalone.launch b/launch/cleaning/_robot_setup.launch similarity index 100% rename from launch/application_standalone.launch rename to launch/cleaning/_robot_setup.launch diff --git a/launch/simulation_standalone.launch b/launch/cleaning/_simulation_setup.launch similarity index 100% rename from launch/simulation_standalone.launch rename to launch/cleaning/_simulation_setup.launch diff --git a/launch/dummy_cgv.launch b/launch/cleaning/cleaning_dummy_cgv.launch similarity index 100% rename from launch/dummy_cgv.launch rename to launch/cleaning/cleaning_dummy_cgv.launch diff --git a/launch/dummy_cgv_connector.launch b/launch/cleaning/cleaning_dummy_controller.launch similarity index 100% rename from launch/dummy_cgv_connector.launch rename to launch/cleaning/cleaning_dummy_controller.launch diff --git a/launch/dummy_cgv_and_cgv_connector.launch b/launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch similarity index 100% rename from launch/dummy_cgv_and_cgv_connector.launch rename to launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch diff --git a/launch/cleaning/cleaning_robot_controller.launch b/launch/cleaning/cleaning_robot_controller.launch new file mode 100644 index 0000000..a44470f --- /dev/null +++ b/launch/cleaning/cleaning_robot_controller.launch @@ -0,0 +1,13 @@ +<launch> + + <arg name="robot_ip" default="172.31.1.13" /> + <arg name="load_gripper" default="true" /> + + <include file="$(find ccf)/launch/cleaning/_robot_setup.launch" > + <arg name="robot_ip" value="$(arg robot_ip)" /> + <arg name="load_gripper" value="$(arg load_gripper)"/> + </include> + + <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> + +</launch> \ No newline at end of file diff --git a/launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch b/launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch new file mode 100644 index 0000000..d5e84b2 --- /dev/null +++ b/launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch @@ -0,0 +1,14 @@ +<launch> + + <arg name="robot_ip" default="172.31.1.13" /> + <arg name="load_gripper" default="true" /> + + <include file="$(find ccf)/launch/cleaning/_robot_setup.launch" > + <arg name="robot_ip" value="$(arg robot_ip)" /> + <arg name="load_gripper" value="$(arg load_gripper)"/> + </include> + + <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> + <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" /> + +</launch> \ No newline at end of file diff --git a/launch/cleaning/cleaning_simulation.launch b/launch/cleaning/cleaning_simulation.launch new file mode 100644 index 0000000..60f3f7c --- /dev/null +++ b/launch/cleaning/cleaning_simulation.launch @@ -0,0 +1,7 @@ +<launch> + + <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/> + + <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> + +</launch> \ No newline at end of file diff --git a/launch/cleaning/cleaning_simulation_and_dummy_cgv.launch b/launch/cleaning/cleaning_simulation_and_dummy_cgv.launch new file mode 100644 index 0000000..2188048 --- /dev/null +++ b/launch/cleaning/cleaning_simulation_and_dummy_cgv.launch @@ -0,0 +1,8 @@ +<launch> + + <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/> + + <node pkg="ccf" type="dummy_cgv" name="dummy_cgv_instance" output="screen" /> + <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> + +</launch> \ No newline at end of file diff --git a/launch/simulation.launch b/launch/simulation.launch deleted file mode 100644 index 188c537..0000000 --- a/launch/simulation.launch +++ /dev/null @@ -1,20 +0,0 @@ -<launch> - - <include file="$(find panda_simulation)/launch/simulation.launch"/> - - - <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" - args="-d $(find ccf)/config/config.rviz" output="screen"> - <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> - </node> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - <rosparam file="$(find ccf)/config/config_simulation.yaml" command="load" /> - - <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" /> - - <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - -</launch> \ No newline at end of file diff --git a/launch/simulation_demo.launch b/launch/simulation_demo.launch deleted file mode 100644 index ec5e96c..0000000 --- a/launch/simulation_demo.launch +++ /dev/null @@ -1,22 +0,0 @@ -<launch> - - <include file="$(find panda_simulation)/launch/simulation.launch"/> - - - <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" - args="-d $(find ccf)/config/config.rviz" output="screen"> - <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> - </node> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - <rosparam file="$(find ccf)/config/config_simulation.yaml" command="load" /> - - <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" /> - - <node pkg="ccf" type="dummy_cgv" name="dummy_cgv_instance" output="screen" /> - - <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" /> - - <rosparam file="$(find ccf)/config/config.yaml" command="load" /> - -</launch> \ No newline at end of file -- GitLab