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launch control file arg #196

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merged 3 commits into from
Oct 1, 2024
Merged

launch control file arg #196

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1484b30
add control file arg
Nikhil-Singhal-06 Sep 30, 2024
59e99e1
format
Nikhil-Singhal-06 Sep 30, 2024
154d55d
fix
Nikhil-Singhal-06 Sep 30, 2024
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10 changes: 9 additions & 1 deletion simulation/gazebo/tb4_sim_scenario/launch/robot_description.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
# @author Roni Kreinin ([email protected])


import os
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
Expand All @@ -37,6 +38,11 @@
description='Robot name'),
DeclareLaunchArgument('namespace', default_value=LaunchConfiguration('robot_name'),
description='Robot namespace'),
DeclareLaunchArgument(
'control_config',
default_value=os.path.join(get_package_share_directory("irobot_create_control"), 'config', 'control.yaml'),
description='Path to the control YAML file.'
)
]


Expand All @@ -46,6 +52,7 @@ def generate_launch_description():
'urdf',
'turtlebot4.urdf.xacro'])
namespace = LaunchConfiguration('namespace')
control_config = LaunchConfiguration('control_config')

robot_state_publisher = Node(
package='robot_state_publisher',
Expand All @@ -57,7 +64,8 @@ def generate_launch_description():
{'robot_description': ParameterValue(Command([
'xacro', ' ', xacro_file, ' ',
'gazebo:=ignition', ' ',
'namespace:=', namespace]), value_type=str)},
'namespace:=', namespace, ' ',
'control_config:=', control_config]), value_type=str)},
],
remappings=[
('/tf', 'tf'),
Expand Down
7 changes: 5 additions & 2 deletions simulation/gazebo/tb4_sim_scenario/urdf/create3.urdf.xacro
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Expand Up @@ -34,6 +34,9 @@ SPDX-License-Identifier: Apache-2.0 -->
<!-- Namespace -->
<xacro:arg name="namespace" default=""/>

<!-- Controller config -->
<xacro:arg name="control_config" default="package://irobot_create_control/config/control.yaml" />

<!-- Mechanical properties -->
<xacro:property name="body_z_offset" value="${-2.5*cm2m}" />
<xacro:property name="body_collision_z_offset" value="${1*cm2m}" />
Expand Down Expand Up @@ -137,7 +140,7 @@ SPDX-License-Identifier: Apache-2.0 -->
<xacro:if value="${'$(arg gazebo)' == 'classic'}">
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>$(find irobot_create_control)/config/control.yaml</parameters>
<parameters>$(arg control_config)</parameters>
<ros>
<remapping>~/odom:=odom</remapping>
<remapping>/tf:=tf</remapping>
Expand All @@ -152,7 +155,7 @@ SPDX-License-Identifier: Apache-2.0 -->
<xacro:if value="${'$(arg gazebo)' == 'ignition'}">
<gazebo>
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find irobot_create_control)/config/control.yaml</parameters>
<parameters>$(arg control_config)</parameters>
<ros>
<remapping>~/odom:=odom</remapping>
<remapping>/tf:=tf</remapping>
Expand Down