arm_dev
6edb8d39ab
在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态， 使后续任何删除/重构都可回退。 本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
71 lines
2.4 KiB
Python
71 lines
2.4 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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use_gui = LaunchConfiguration('use_gui')
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use_rviz = LaunchConfiguration('use_rviz')
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robot_sn = LaunchConfiguration('robot_sn')
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rizon_type = LaunchConfiguration('rizon_type')
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load_gripper = LaunchConfiguration('load_gripper')
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urdf_path = PathJoinSubstitution(
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[FindPackageShare('arm_description'), 'urdf', 'arm.urdf.xacro']
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)
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rviz_config = PathJoinSubstitution(
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[FindPackageShare('flexiv_description'), 'rviz', 'view_rizon.rviz']
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)
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robot_description = ParameterValue(
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Command([
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'xacro ', urdf_path,
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' robot_sn:=', robot_sn,
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' rizon_type:=', rizon_type,
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' load_gripper:=', load_gripper,
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]),
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value_type=str,
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)
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return LaunchDescription([
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DeclareLaunchArgument('use_gui', default_value='true'),
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DeclareLaunchArgument('use_rviz', default_value='true'),
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DeclareLaunchArgument('robot_sn', default_value='Rizon4-063989'),
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DeclareLaunchArgument('rizon_type', default_value='Rizon4'),
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DeclareLaunchArgument('load_gripper', default_value='false'),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description}],
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output='screen',
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),
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Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui',
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condition=IfCondition(use_gui),
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output='screen',
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),
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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condition=UnlessCondition(use_gui),
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output='screen',
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),
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config],
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condition=IfCondition(use_rviz),
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output='screen',
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),
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])
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