launch de-coupling

lbr-stack · Sep 10, 2024 · 64b1781 · 64b1781
1 parent 4e5175f
commit 64b1781
Show file tree

Hide file tree

Showing 13 changed files with 405 additions and 153 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,19 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v2.1.0 (2024-09-10)
+--------------------------
+* De-couple launch files from ``lbr_bringup`` for easier customization (breaking change):
+
+  * Removed ``sim:=true / false`` argument from launch files in favor of dedicated launch files (since no feature parity between simulation and real robot)
+  * MoveIt and RViz need to be launched separately now
+  * User can now launch via:
+
+    * ``ros2 launch lbr_bringup mock.launch.py`` (new: mock system)
+    * ``ros2 launch lbr_bringup hardware.launch.py`` (real robot)
+    * ``ros2 launch lbr_bringup gazebo.launch.py`` (Gazebo simulation)
+* Added mock hardware to ``lbr_ros2_control`` (for simple ``ros2_control`` testing without the need for Gazebo)
+
 Humble v2.0.0 (2024-07-08)
 --------------------------
 * Remove ``app.launch.py`` from demos in favor for ``ros2_control`` variant (breaking change)

diff --git a/lbr_description/config/config.rviz → lbr_bringup/config/gazebo.rviz b/lbr_description/config/config.rviz → lbr_bringup/config/gazebo.rviz
@@ -1,14 +1,15 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 87
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /Status1
         - /RobotModel1
-      Splitter Ratio: 0.5
-    Tree Height: 787
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.40760868787765503
+    Tree Height: 657
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -22,6 +23,11 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -53,7 +59,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /robot_description
+        Value: /lbr/robot_description
       Enabled: true
       Links:
         All Links Enabled: true
@@ -105,25 +111,15 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        storz_straight_exoscope_hsi_link_0:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        storz_straight_exoscope_hsi_link_cm:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        storz_straight_exoscope_hsi_link_cm_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
         world:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
-      TF Prefix: ""
+      TF Prefix: lbr
       Update Interval: 0
       Value: true
       Visual Enabled: true
@@ -142,6 +138,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -170,39 +169,41 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 4.795630931854248
+      Distance: 3.38482666015625
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.19523456692695618
-        Y: -0.17667146027088165
-        Z: 0.2629773020744324
-      Focal Shape Fixed Size: true
+        X: -0.10796727985143661
+        Y: -0.08450233191251755
+        Z: 0.1360965371131897
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
+      Pitch: 0.7853981852531433
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz_default_plugins)
-      Yaw: 0.785398006439209
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 1021
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ba0000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004ab0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000021200000337fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000337000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000035b000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000004efc0100000002fb0000000800540069006d006501000000000000073a000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005270000033700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
+  Time:
+    collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 0
-  Y: 27
+  Width: 1850
+  X: 1080
+  Y: 450
diff --git a/lbr_bringup/config/config.rviz → lbr_bringup/config/hardware.rviz b/lbr_bringup/config/config.rviz → lbr_bringup/config/hardware.rviz
diff --git a/lbr_bringup/config/mock.rviz b/lbr_bringup/config/mock.rviz
@@ -0,0 +1,209 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.40760868787765503
+    Tree Height: 657
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 34; 141; 255
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /lbr/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        link_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: lbr
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 21; 21; 26
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.38482666015625
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.10796727985143661
+        Y: -0.08450233191251755
+        Z: 0.1360965371131897
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7853981852531433
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1021
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000021200000337fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000337000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000035b000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000004efc0100000002fb0000000800540069006d006501000000000000073a000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005270000033700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1850
+  X: 1080
+  Y: 450
diff --git a/lbr_bringup/launch/gazebo.launch.py b/lbr_bringup/launch/gazebo.launch.py
@@ -1,6 +1,7 @@
 from launch import LaunchDescription
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from lbr_bringup.description import GazeboMixin, LBRDescriptionMixin
+from lbr_bringup.description import LBRDescriptionMixin
+from lbr_bringup.gazebo import GazeboMixin
 from lbr_bringup.ros2_control import LBRROS2ControlMixin
 
 
@@ -37,7 +38,9 @@ def generate_launch_description() -> LaunchDescription:
 
     # Gazebo
     ld.add_action(GazeboMixin.include_gazebo())  # Gazebo has its own controller manager
-    spawn_entity = GazeboMixin.node_spawn_entity(tf=world_robot_tf)
+    spawn_entity = GazeboMixin.node_spawn_entity(
+        tf=world_robot_tf
+    )  # spawns robot in Gazebo through robot_description topic of robot_state_publisher
     ld.add_action(spawn_entity)
 
     # controllers