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Update launch files to use ros2 control spawner #405

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Merged
tylerjw merged 5 commits into from
Apr 1, 2021
Merged

Update launch files to use ros2 control spawner #405

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3119e35
Update launch files to use ros2 control spawner
JafarAbdi Mar 30, 2021
4141db3
Merge branch 'main' into pr-use_ros2_control_spwaner
JafarAbdi Mar 30, 2021
ac604a9
Merge branch 'main' into pr-use_ros2_control_spwaner
JafarAbdi Mar 30, 2021
52ef419
Run the test after waiting 2 seconds to make sure the controllers are…
JafarAbdi Mar 31, 2021
8406bbb
Add timer action to all integration tests
JafarAbdi Apr 1, 2021
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34 changes: 10 additions & 24 deletions moveit_demo_nodes/run_move_group/launch/run_move_group.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -157,30 +157,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

# Warehouse mongodb server
mongodb_server_node = Node(
Expand Down
34 changes: 10 additions & 24 deletions moveit_demo_nodes/run_moveit_cpp/launch/run_moveit_cpp.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -142,30 +142,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

return LaunchDescription(
[
Expand Down
34 changes: 10 additions & 24 deletions moveit_demo_nodes/run_ompl_constrained_planning/launch/run_move_group.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -158,30 +158,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

# Warehouse mongodb server
mongodb_server_node = Node(
Expand Down
34 changes: 10 additions & 24 deletions moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -123,30 +123,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

return LaunchDescription(
[
Expand Down
34 changes: 10 additions & 24 deletions moveit_ros/moveit_servo/launch/servo_cpp_interface_demo.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -108,30 +108,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

return LaunchDescription(
[rviz_node, static_tf, servo_node, ros2_control_node, robot_state_publisher]
Expand Down
34 changes: 10 additions & 24 deletions moveit_ros/moveit_servo/launch/servo_server_demo.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,30 +84,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

# Launch as much as possible in components
container = ComposableNodeContainer(
Expand Down
34 changes: 10 additions & 24 deletions moveit_ros/moveit_servo/launch/servo_teleop.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -82,30 +82,16 @@ def generate_launch_description():
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

# Launch as much as possible in components
container = ComposableNodeContainer(
Expand Down
38 changes: 12 additions & 26 deletions moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode
from ament_index_python.packages import get_package_share_directory
from launch.actions import ExecuteProcess
from launch.actions import ExecuteProcess, TimerAction
import xacro


Expand Down Expand Up @@ -92,30 +92,16 @@ def generate_servo_test_description(
},
)

# load joint_state_controller
load_joint_state_controller = ExecuteProcess(
cmd=["ros2 control load_start_controller joint_state_controller"],
shell=True,
output="screen",
)
load_controllers = [load_joint_state_controller]
# load panda_arm_controller
load_controllers += [
ExecuteProcess(
cmd=["ros2 control load_configure_controller panda_arm_controller"],
shell=True,
output="screen",
on_exit=[
ExecuteProcess(
cmd=[
"ros2 control switch_controllers --start-controllers panda_arm_controller"
],
shell=True,
output="screen",
)
],
)
]
# Load controllers
load_controllers = []
for controller in ["panda_arm_controller", "joint_state_controller"]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]

# Component nodes for tf and Servo
test_container = ComposableNodeContainer(
Expand Down Expand Up @@ -170,7 +156,7 @@ def generate_servo_test_description(
),
ros2_control_node,
test_container,
servo_gtest,
TimerAction(period=2.0, actions=[servo_gtest]),
launch_testing.actions.ReadyToTest(),
]
+ load_controllers
Expand Down
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