ur-simulation/master.launch.py at main · Andy-Leo10/ur-simulation · GitHub

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import launch
from launch.substitutions import Command, LaunchConfiguration
import launch_ros
import os

from launch import LaunchDescription
from launch.actions import (
        IncludeLaunchDescription,
)
from launch.actions import ExecuteProcess
from launch.launch_description_sources import AnyLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory

# new imports
from launch.actions import (DeclareLaunchArgument, TimerAction)

def generate_launch_description():

    declare_ur_type = DeclareLaunchArgument(
        "ur_type",
        default_value="ur3e",
        description="Robot type")
    declare_description_file = DeclareLaunchArgument(
        "description_file",
        default_value="my_rg2.urdf.xacro",
        description="URDF/XACRO description file")
    declare_gazebo_gui = DeclareLaunchArgument(
        name='gazebo_gui',
        default_value='false',
        choices=['true', 'false'],
        description='Set to true to enable Gazebo GUI')
    declare_launch_rviz = DeclareLaunchArgument(
        name='launch_rviz',
        default_value='false',
        choices=['true', 'false'],
        description='Set to true to launch RViz')

    ########################### BELOW SIMILAR TO BEFORE ############################

    # ros2 launch maze_world launch_maze_world.launch.py cloud:=false
    node_world = IncludeLaunchDescription(
        AnyLaunchDescriptionSource([
            os.path.join(get_package_share_directory( 'maze_world' ), 'launch', 'launch_maze_world.launch.py')
        ]),
        launch_arguments={
            'cloud': 'false'
        }.items()
    )

    # ros2 launch ur_simulation_gz my_sim_control.launch.py ur_type:=ur3e description_file:=my_rg2.urdf.xacro gazebo_gui:=false launch_rviz:=false
    node_spawn_robot_and_control = IncludeLaunchDescription(
        AnyLaunchDescriptionSource([
            os.path.join(get_package_share_directory( 'ur_simulation_gz' ), 'launch', 'my_sim_control.launch.py')
        ]),
        launch_arguments={
            'ur_type': LaunchConfiguration('ur_type'),
            'description_file': LaunchConfiguration('description_file'),
            'gazebo_gui': LaunchConfiguration('gazebo_gui'),
            'launch_rviz': LaunchConfiguration('launch_rviz')
        }.items()
    )

    # ros2 launch my_moveit_config move_group.launch.py
    node_moveit_setup = IncludeLaunchDescription(
        AnyLaunchDescriptionSource([
            os.path.join(get_package_share_directory( 'my_moveit_config' ), 'launch', 'move_group.launch.py')
        ])
    )

    # ros2 launch moveit2_scripts test_trajectory.launch.py
    node_moveit_commander = IncludeLaunchDescription(
        AnyLaunchDescriptionSource([
            os.path.join(get_package_share_directory( 'moveit2_scripts' ), 'launch', 'test_trajectory.launch.py')
        ])
    )

    # for -> ros2 run PKG EXECUTABLE
    # aan_navigation_clients = ExecuteProcess(
    #     cmd=['ros2', 'run', 'PKG', 'EXECUTABLE'],
    #     output='screen'
    # )

    ########################### DELAYS TO LAUNCHS ############################

    return launch.LaunchDescription([

        node_world,

        declare_ur_type,
        declare_description_file,
        declare_gazebo_gui,
        declare_launch_rviz,
        # node_spawn_bridge_control,
        TimerAction(
            period=5.0,
            actions=[node_spawn_robot_and_control]
        ),
        TimerAction(
            period=15.0,
            actions=[node_moveit_setup]
        ),
        TimerAction(
            period=18.0,
            actions=[node_moveit_commander]
        ),

    ])

'''
ros2 launch master.launch.py
'''