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carlossvgcarlossvg
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Refactor bringup and process settings configuration
1 parent c5344aa commit d873a54

22 files changed

+591
-427
lines changed

‎pendulum_bringup/launch/controller_bringup.launch.py

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# Copyright 2019 Carlos San Vicente
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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import launch.substitutions
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Get the bringup directory
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bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
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# Set parameter file path
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param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
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param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
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with_controller_param = DeclareLaunchArgument(
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'controller',
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default_value='True',
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description='Launch controller node'
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)
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# Node definitions
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pendulum_controller_runner = Node(
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package='pendulum_controller',
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executable='pendulum_controller_exe',
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output='screen',
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parameters=[param_file],
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arguments=[],
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condition=IfCondition(LaunchConfiguration('controller'))
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)
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ld = LaunchDescription()
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ld.add_action(with_controller_param)
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ld.add_action(pendulum_controller_runner)
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return ld

‎pendulum_bringup/launch/driver_bringup.launch.py

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# Copyright 2019 Carlos San Vicente
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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import launch.substitutions
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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25+
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def generate_launch_description():
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# Get the bringup directory
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bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
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# Set parameter file path
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param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
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param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
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with_driver_param = DeclareLaunchArgument(
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'driver',
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default_value='True',
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description='Launch driver node'
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)
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pendulum_driver_runner = Node(
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package='pendulum_driver',
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executable='pendulum_driver_exe',
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output='screen',
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parameters=[param_file],
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arguments=[],
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condition=IfCondition(LaunchConfiguration('driver'))
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)
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ld = LaunchDescription()
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ld.add_action(with_driver_param)
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ld.add_action(pendulum_driver_runner)
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return ld

‎pendulum_bringup/launch/pendulum_bringup.launch.py

Lines changed: 11 additions & 96 deletions
Original file line numberDiff line numberDiff line change
@@ -15,112 +15,27 @@
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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import launch.substitutions
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
2318
from launch_ros.substitutions import FindPackageShare
24-
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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2622
def generate_launch_description():
2723
# Get the bringup directory
2824
bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
2925

30-
# Set robot description parameters
31-
urdf_file = os.path.join(bringup_dir, 'urdf', 'pendulum.urdf')
32-
with open(urdf_file, 'r') as infp:
33-
robot_desc = infp.read()
34-
rsp_params = {'robot_description': robot_desc}
35-
36-
# Set parameter file path
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param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
38-
param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
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# Set rviz config path
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rviz_cfg_path = os.path.join(bringup_dir, 'rviz/pendulum.rviz')
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# Create the launch configuration variables
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autostart_param = DeclareLaunchArgument(
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name='autostart',
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default_value='True',
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description='Automatically start lifecycle nodes')
48-
priority_param = DeclareLaunchArgument(
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name='priority',
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default_value='0',
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description='Set process priority')
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cpu_affinity_param = DeclareLaunchArgument(
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name='cpu-affinity',
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default_value='0',
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description='Set process CPU affinity')
56-
with_lock_memory_param = DeclareLaunchArgument(
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name='lock-memory',
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default_value='False',
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description='Lock the process memory')
60-
lock_memory_size_param = DeclareLaunchArgument(
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name='lock-memory-size',
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default_value='0',
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description='Set lock memory size in MB')
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config_child_threads_param = DeclareLaunchArgument(
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name='config-child-threads',
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default_value='False',
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description='Configure process child threads (typically DDS threads)')
68-
with_rviz_param = DeclareLaunchArgument(
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'rviz',
70-
default_value='False',
71-
description='Launch RVIZ2 in addition to other nodes'
26+
rviz_launch = IncludeLaunchDescription(
27+
PythonLaunchDescriptionSource([bringup_dir, '/launch/rviz.launch.py'])
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)
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# Node definitions
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pendulum_demo_runner = Node(
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package='pendulum_demo',
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executable='pendulum_demo_waitset',
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output='screen',
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parameters=[param_file],
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arguments=[
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'--autostart', LaunchConfiguration('autostart'),
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'--priority', LaunchConfiguration('priority'),
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'--cpu-affinity', LaunchConfiguration('cpu-affinity'),
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'--lock-memory', LaunchConfiguration('lock-memory'),
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'--lock-memory-size', LaunchConfiguration('lock-memory-size'),
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'--config-child-threads', LaunchConfiguration('config-child-threads')
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]
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controller_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([bringup_dir, '/launch/controller_bringup.launch.py'])
8831
)
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90-
robot_state_publisher_runner = Node(
91-
package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[rsp_params],
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condition=IfCondition(LaunchConfiguration('rviz'))
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)
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98-
rviz_runner = 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', str(rviz_cfg_path)],
103-
condition=IfCondition(LaunchConfiguration('rviz'))
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)
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106-
pendulum_state_publisher_runner = Node(
107-
package='pendulum_state_publisher',
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executable='pendulum_state_publisher',
109-
condition=IfCondition(LaunchConfiguration('rviz'))
32+
driver_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([bringup_dir, '/launch/driver_bringup.launch.py'])
11034
)
11135

11236
ld = LaunchDescription()
113-
114-
ld.add_action(autostart_param)
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ld.add_action(priority_param)
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ld.add_action(cpu_affinity_param)
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ld.add_action(with_lock_memory_param)
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ld.add_action(lock_memory_size_param)
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ld.add_action(config_child_threads_param)
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ld.add_action(with_rviz_param)
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ld.add_action(robot_state_publisher_runner)
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ld.add_action(pendulum_demo_runner)
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ld.add_action(rviz_runner)
124-
ld.add_action(pendulum_state_publisher_runner)
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ld.add_action(controller_launch)
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ld.add_action(driver_launch)
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ld.add_action(rviz_launch)
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12641
return ld

‎pendulum_bringup/launch/pendulum_bringup_rviz.launch.py

Lines changed: 45 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -70,8 +70,49 @@ def generate_launch_description():
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default_value='False',
7171
description='Launch RVIZ2 in addition to other nodes'
7272
)
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with_controller_param = DeclareLaunchArgument(
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'controller',
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default_value='True',
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description='Launch controller node'
77+
)
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with_driver_param = DeclareLaunchArgument(
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'driver',
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default_value='True',
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description='Launch driver node'
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)
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7484
# Node definitions
85+
pendulum_controller_runner = Node(
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package='pendulum_controller',
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executable='pendulum_controller_exe',
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output='screen',
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parameters=[param_file],
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arguments=[
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'--autostart', LaunchConfiguration('autostart'),
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'--priority', LaunchConfiguration('priority'),
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'--cpu-affinity', LaunchConfiguration('cpu-affinity'),
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'--lock-memory', LaunchConfiguration('lock-memory'),
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'--lock-memory-size', LaunchConfiguration('lock-memory-size'),
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'--config-child-threads', LaunchConfiguration('config-child-threads')
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],
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condition=IfCondition(LaunchConfiguration('controller'))
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)
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101+
pendulum_driver_runner = Node(
102+
package='pendulum_driver',
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executable='pendulum_driver_exe',
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output='screen',
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parameters=[param_file],
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arguments=[
107+
'--autostart', LaunchConfiguration('autostart'),
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'--priority', LaunchConfiguration('priority'),
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'--cpu-affinity', LaunchConfiguration('cpu-affinity'),
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'--lock-memory', LaunchConfiguration('lock-memory'),
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'--lock-memory-size', LaunchConfiguration('lock-memory-size'),
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'--config-child-threads', LaunchConfiguration('config-child-threads')
113+
],
114+
condition=IfCondition(LaunchConfiguration('driver'))
115+
)
75116

76117
robot_state_publisher_runner = Node(
77118
package='robot_state_publisher',
@@ -104,8 +145,11 @@ def generate_launch_description():
104145
ld.add_action(lock_memory_size_param)
105146
ld.add_action(config_child_threads_param)
106147
ld.add_action(with_rviz_param)
148+
ld.add_action(with_controller_param)
149+
ld.add_action(with_driver_param)
107150
ld.add_action(robot_state_publisher_runner)
108-
#ld.add_action(pendulum_demo_runner)
151+
ld.add_action(pendulum_controller_runner)
152+
ld.add_action(pendulum_driver_runner)
109153
ld.add_action(rviz_runner)
110154
ld.add_action(pendulum_state_publisher_runner)
111155

‎pendulum_bringup/launch/rviz.launch.py

Lines changed: 79 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,79 @@
1+
# Copyright 2019 Carlos San Vicente
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
15+
import os
16+
17+
from launch import LaunchDescription
18+
from launch.actions import DeclareLaunchArgument
19+
from launch.conditions import IfCondition
20+
import launch.substitutions
21+
from launch.substitutions import LaunchConfiguration
22+
from launch_ros.actions import Node
23+
from launch_ros.substitutions import FindPackageShare
24+
25+
26+
def generate_launch_description():
27+
# Get the bringup directory
28+
bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
29+
30+
# Set robot description parameters
31+
urdf_file = os.path.join(bringup_dir, 'urdf', 'pendulum.urdf')
32+
with open(urdf_file, 'r') as infp:
33+
robot_desc = infp.read()
34+
rsp_params = {'robot_description': robot_desc}
35+
36+
# Set parameter file path
37+
param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
38+
param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
39+
40+
# Set rviz config path
41+
rviz_cfg_path = os.path.join(bringup_dir, 'rviz/pendulum.rviz')
42+
43+
# Create the launch configuration variables
44+
with_rviz_param = DeclareLaunchArgument(
45+
'rviz',
46+
default_value='False',
47+
description='Launch RVIZ2 in addition to other nodes'
48+
)
49+
50+
robot_state_publisher_runner = Node(
51+
package='robot_state_publisher',
52+
executable='robot_state_publisher',
53+
output='screen',
54+
parameters=[rsp_params],
55+
condition=IfCondition(LaunchConfiguration('rviz'))
56+
)
57+
58+
rviz_runner = Node(
59+
package='rviz2',
60+
executable='rviz2',
61+
name='rviz2',
62+
arguments=['-d', str(rviz_cfg_path)],
63+
condition=IfCondition(LaunchConfiguration('rviz'))
64+
)
65+
66+
pendulum_state_publisher_runner = Node(
67+
package='pendulum_state_publisher',
68+
executable='pendulum_state_publisher',
69+
condition=IfCondition(LaunchConfiguration('rviz'))
70+
)
71+
72+
ld = LaunchDescription()
73+
74+
ld.add_action(with_rviz_param)
75+
ld.add_action(robot_state_publisher_runner)
76+
ld.add_action(rviz_runner)
77+
ld.add_action(pendulum_state_publisher_runner)
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79+
return ld

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