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Add iiwa7 and ignition support #36

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Add iiwa7 and ignition support #36

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7c23455
Add description for iiwa7, add ignition support with ros2 control
May 16, 2023
560d2fb
Working implementation
May 17, 2023
7fc49d2
Potentially final fixes
jimwang418 May 18, 2023
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0 iiwa_bringup/launch/iiwa.launch.py → iiwa_bringup/launch/iiwa14.launch.py
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251 changes: 251 additions & 0 deletions iiwa_bringup/launch/iiwa7.launch.py
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# Copyright 2022 ICube Laboratory, University of Strasbourg
#
# 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.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
'runtime_config_package',
default_value='iiwa_description',
description='Package with the controller\'s configuration in "config" folder. \
Usually the argument is not set, it enables use of a custom setup.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'controllers_file',
default_value='iiwa_controllers.yaml',
description='YAML file with the controllers configuration.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'description_package',
default_value='iiwa_description',
description='Description package with robot URDF/xacro files. Usually the argument \
is not set, it enables use of a custom description.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'description_file',
default_value='iiwa7.config.xacro',
description='URDF/XACRO description file with the robot.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'prefix',
default_value='""',
description='Prefix of the joint names, useful for multi-robot setup. \
If changed than also joint names in the controllers \
configuration have to be updated.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'use_sim',
default_value='false',
description='Start robot in Gazebo simulation.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'use_fake_hardware',
default_value='true',
description='Start robot with fake hardware mirroring command to its states.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'robot_controller',
default_value='iiwa_arm_controller',
description='Robot controller to start.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'start_rviz',
default_value='true',
description='Start RViz2 automatically with this launch file.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'robot_ip',
default_value='192.170.10.2',
description='Robot IP of FRI interface',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'robot_port',
default_value='30200',
description='Robot port of FRI interface.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'initial_positions_file',
default_value='initial_positions.yaml',
description='Configuration file of robot initial positions for simulation.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
'command_interface',
default_value='position',
description='Robot command interface [position|velocity|effort].',
)
)

# Initialize Arguments
runtime_config_package = LaunchConfiguration('runtime_config_package')
controllers_file = LaunchConfiguration('controllers_file')
description_package = LaunchConfiguration('description_package')
description_file = LaunchConfiguration('description_file')
prefix = LaunchConfiguration('prefix')
use_sim = LaunchConfiguration('use_sim')
use_fake_hardware = LaunchConfiguration('use_fake_hardware')
robot_controller = LaunchConfiguration('robot_controller')
start_rviz = LaunchConfiguration('start_rviz')
robot_ip = LaunchConfiguration('robot_ip')
robot_port = LaunchConfiguration('robot_port')
initial_positions_file = LaunchConfiguration('initial_positions_file')
command_interface = LaunchConfiguration('command_interface')

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name='xacro')]),
' ',
PathJoinSubstitution(
[FindPackageShare(description_package), 'config', description_file]
),
' ',
'prefix:=',
prefix,
' ',
'use_sim:=',
use_sim,
' ',
'use_fake_hardware:=',
use_fake_hardware,
' ',
'robot_ip:=',
robot_ip,
' ',
'robot_port:=',
robot_port,
' ',
'initial_positions_file:=',
initial_positions_file,
' ',
'command_interface:=',
command_interface,
]
)
robot_description = {'robot_description': robot_description_content}

robot_controllers = PathJoinSubstitution(
[
FindPackageShare(runtime_config_package),
'config',
controllers_file,
]
)
rviz_config_file = PathJoinSubstitution(
[FindPackageShare(description_package), 'rviz', 'iiwa.rviz']
)

control_node = Node(
package='controller_manager',
executable='ros2_control_node',
parameters=[robot_description, robot_controllers],
output={
'stdout': 'screen',
'stderr': 'screen',
},
)
robot_state_pub_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='both',
parameters=[robot_description],
)

rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='log',
arguments=['-d', rviz_config_file],
condition=IfCondition(start_rviz),
)

joint_state_broadcaster_spawner = Node(
package='controller_manager',
executable='spawner.py',
arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
)

eternal_torque_broadcaster_spawner = Node(
package='controller_manager',
executable='spawner.py',
arguments=['ets_state_broadcaster', '--controller-manager', '/controller_manager'],
)

robot_controller_spawner = Node(
package='controller_manager',
executable='spawner.py',
arguments=[robot_controller, '-c', '/controller_manager'],
)

# Delay rviz start after `joint_state_broadcaster`
delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[rviz_node],
)
)

# Delay start of robot_controller after `joint_state_broadcaster`
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[robot_controller_spawner],
)
)

nodes = [
control_node,
robot_state_pub_node,
joint_state_broadcaster_spawner,
delay_rviz_after_joint_state_broadcaster_spawner,
eternal_torque_broadcaster_spawner,
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
]

return LaunchDescription(declared_arguments + nodes)
125 changes: 125 additions & 0 deletions iiwa_bringup/launch/iiwa_ignition.launch.py
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# Copyright 2022 ICube Laboratory, University of Strasbourg
#
# 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, get_package_prefix
from launch import LaunchDescription
from launch.actions import ExecuteProcess, DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler, SetEnvironmentVariable
from launch.event_handlers import OnProcessExit, OnProcessIO, OnProcessStart
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():

set_ign_path = SetEnvironmentVariable(
name = 'IGN_GAZEBO_SYSTEM_PLUGIN_PATH',
value = os.path.join(
get_package_prefix('ign_ros2_control'),
'lib'
)
)

iiwa_simulation_world = os.path.join(
get_package_share_directory('iiwa_description'),
'ignition/worlds',
'empty.sdf')

ignition = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_ign_gazebo'),
'launch',
'ign_gazebo.launch.py')]
),
launch_arguments=[('ign_args', [' -r -v 4 ' + iiwa_simulation_world])]
)

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name='xacro')]),
' ',
PathJoinSubstitution(
[
FindPackageShare('iiwa_description'),
'config',
'iiwa7.config.xacro',
]
),
' ',
'use_sim:=true',
' ',
'initial_positions_file:=',
PathJoinSubstitution(
[
FindPackageShare('iiwa_description'),
'config',
'initial_positions.yaml',
]
),
]
)
robot_description = {'robot_description': robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description],
)

spawn_entity = Node(
package='ros_ign_gazebo',
executable='create',
arguments=['-world', 'empty',
'-name', 'iiwa7',
'-string', robot_description_content],
output='screen',
)

load_jst_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'joint_state_broadcaster'],
output='screen'
)

load_arm_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'iiwa_arm_controller'],
output='screen'
)

return LaunchDescription(
[
set_ign_path,
ignition,
node_robot_state_publisher,
spawn_entity,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=spawn_entity,
on_exit=[load_jst_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_jst_controller,
on_exit=[load_arm_controller],
)
),
]
)
4 changes: 2 additions & 2 deletions iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py
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Expand Up @@ -30,8 +30,8 @@ def generate_launch_description():
[
Node(
package='ros2_control_test_nodes',
executable='publisher_joint_trajectory_controller',
name='publisher_joint_trajectory_controller',
executable='publisher_joint_trajectory_position_controller',
name='publisher_joint_trajectory_position_controller',
parameters=[position_goals],
output={
'stdout': 'screen',
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2 changes: 1 addition & 1 deletion iiwa_description/CMakeLists.txt
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Expand Up @@ -27,7 +27,7 @@ endif()
# Install
################################################################################
install(
DIRECTORY urdf meshes gazebo rviz ros2_control config moveit2
DIRECTORY urdf meshes gazebo ignition rviz ros2_control config moveit2
DESTINATION share/${PROJECT_NAME}
)

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