4 from ament_index_python.packages
import get_package_share_directory
5 from launch_param_builder
import ParameterBuilder
6 from moveit_configs_utils
import MoveItConfigsBuilder
12 .robot_description(file_path=
"config/panda.urdf.xacro")
14 .robot_description_kinematics()
20 "moveit_servo": ParameterBuilder(
"moveit_servo")
21 .yaml(
"config/panda_simulated_config.yaml")
26 low_pass_filter_coeff = {
"butterworth_filter_coeff": 1.5}
32 rviz_node = launch_ros.actions.Node(
37 arguments=[
"-d", rviz_config_file],
39 moveit_config.robot_description,
40 moveit_config.robot_description_semantic,
45 ros2_controllers_path = os.path.join(
48 "ros2_controllers.yaml",
50 ros2_control_node = launch_ros.actions.Node(
51 package=
"controller_manager",
52 executable=
"ros2_control_node",
53 parameters=[ros2_controllers_path],
55 (
"/controller_manager/robot_description",
"/robot_description"),
60 joint_state_broadcaster_spawner = launch_ros.actions.Node(
61 package=
"controller_manager",
64 "joint_state_broadcaster",
65 "--controller-manager-timeout",
67 "--controller-manager",
68 "/controller_manager",
72 panda_arm_controller_spawner = launch_ros.actions.Node(
73 package=
"controller_manager",
75 arguments=[
"panda_arm_controller",
"-c",
"/controller_manager"],
79 container = launch_ros.actions.ComposableNodeContainer(
80 name=
"moveit_servo_demo_container",
82 package=
"rclcpp_components",
83 executable=
"component_container_mt",
84 composable_node_descriptions=[
85 launch_ros.descriptions.ComposableNode(
86 package=
"robot_state_publisher",
87 plugin=
"robot_state_publisher::RobotStatePublisher",
88 name=
"robot_state_publisher",
89 parameters=[moveit_config.robot_description],
91 launch_ros.descriptions.ComposableNode(
93 plugin=
"tf2_ros::StaticTransformBroadcasterNode",
94 name=
"static_tf2_broadcaster",
95 parameters=[{
"child_frame_id":
"/panda_link0",
"frame_id":
"/world"}],
102 servo_node = launch_ros.actions.Node(
103 package=
"moveit_servo",
104 executable=
"demo_twist",
107 low_pass_filter_coeff,
108 moveit_config.robot_description,
109 moveit_config.robot_description_semantic,
110 moveit_config.robot_description_kinematics,
111 moveit_config.joint_limits,
116 return launch.LaunchDescription(
120 joint_state_broadcaster_spawner,
121 panda_arm_controller_spawner,
def get_package_share_directory(pkg_name)
def generate_launch_description()