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…_and_position_controller
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86 changes: 86 additions & 0 deletions
86
gazebo_ros2_control_demos/launch/pendulum_example_effort.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| # Copyright 2024 ros2_control Development Team | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
|
|
||
| from ament_index_python.packages import get_package_share_directory | ||
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| from launch import LaunchDescription | ||
| from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
|
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| from launch_ros.actions import Node | ||
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| import xacro | ||
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| def generate_launch_description(): | ||
| gazebo = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([os.path.join( | ||
| get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), | ||
| ) | ||
|
|
||
| gazebo_ros2_control_demos_path = os.path.join( | ||
| get_package_share_directory('gazebo_ros2_control_demos')) | ||
|
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| xacro_file = os.path.join(gazebo_ros2_control_demos_path, | ||
| 'urdf', | ||
| 'test_pendulum_effort.xacro.urdf') | ||
|
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| doc = xacro.parse(open(xacro_file)) | ||
| xacro.process_doc(doc) | ||
| params = {'robot_description': doc.toxml()} | ||
|
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| node_robot_state_publisher = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[params] | ||
| ) | ||
|
|
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| spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', | ||
| arguments=['-topic', 'robot_description', | ||
| '-entity', 'cartpole'], | ||
| output='screen') | ||
|
|
||
| load_joint_state_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
|
|
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| load_joint_trajectory_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=spawn_entity, | ||
| on_exit=[load_joint_state_controller], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_joint_state_controller, | ||
| on_exit=[load_joint_trajectory_controller], | ||
| ) | ||
| ), | ||
| gazebo, | ||
| node_robot_state_publisher, | ||
| spawn_entity, | ||
| ]) |
87 changes: 87 additions & 0 deletions
87
gazebo_ros2_control_demos/launch/pendulum_example_position.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| # Copyright 2024 ros2_control Development Team | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
|
|
||
| from ament_index_python.packages import get_package_share_directory | ||
|
|
||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
|
|
||
| from launch_ros.actions import Node | ||
|
|
||
| import xacro | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| gazebo = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([os.path.join( | ||
| get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), | ||
| ) | ||
|
|
||
| gazebo_ros2_control_demos_path = os.path.join( | ||
| get_package_share_directory('gazebo_ros2_control_demos')) | ||
|
|
||
| xacro_file = os.path.join(gazebo_ros2_control_demos_path, | ||
| 'urdf', | ||
| 'test_pendulum_position.xacro.urdf') | ||
|
|
||
| doc = xacro.parse(open(xacro_file)) | ||
| xacro.process_doc(doc) | ||
| params = {'robot_description': doc.toxml()} | ||
|
|
||
| node_robot_state_publisher = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[params] | ||
| ) | ||
|
|
||
| spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', | ||
| arguments=['-topic', 'robot_description', | ||
| '-entity', 'cartpole'], | ||
| output='screen') | ||
|
|
||
| load_joint_state_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
|
|
||
| load_joint_trajectory_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_trajectory_controller'], | ||
| output='screen' | ||
| ) | ||
|
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| return LaunchDescription([ | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=spawn_entity, | ||
| on_exit=[load_joint_state_controller], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_joint_state_controller, | ||
| on_exit=[load_joint_trajectory_controller], | ||
| ) | ||
| ), | ||
| gazebo, | ||
| node_robot_state_publisher, | ||
| spawn_entity, | ||
| ]) |
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