launchファイルのリファクタリング

crane_x7_control/launch/crane_x7_control.launch.py

@@ -18,22 +18,17 @@
 from crane_x7_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.actions import ExecuteProcess
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
     config_file_path = os.path.join(
-        get_package_share_directory('crane_x7_control'),
-        'config',
-        'manipulator_config.yaml'
+        get_package_share_directory('crane_x7_control'), 'config', 'manipulator_config.yaml'
     )
 
     links_file_path = os.path.join(
-        get_package_share_directory('crane_x7_control'),
-        'config',
-        'manipulator_links.csv'
+        get_package_share_directory('crane_x7_control'), 'config', 'manipulator_links.csv'
     )
 
     description_loader = RobotDescriptionLoader()
@@ -47,45 +42,50 @@ def generate_launch_description():
         'loaded_description',
         default_value=description_loader.load(),
         description='Set robot_description text.  \
-                     It is recommended to use RobotDescriptionLoader() in crane_x7_description.'
+                     It is recommended to use RobotDescriptionLoader() in crane_x7_description.',
     )
 
     crane_x7_controllers = os.path.join(
-        get_package_share_directory('crane_x7_control'),
-        'config',
-        'crane_x7_controllers.yaml'
-        )
+        get_package_share_directory('crane_x7_control'), 'config', 'crane_x7_controllers.yaml'
+    )
 
     controller_manager = Node(
         package='controller_manager',
         executable='ros2_control_node',
-        parameters=[{'robot_description': LaunchConfiguration('loaded_description')},
-                    crane_x7_controllers],
         output='screen',
-        )
+        parameters=[
+            {'robot_description': LaunchConfiguration('loaded_description')},
+            crane_x7_controllers,
+        ],
+    )
 
-    spawn_joint_state_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner joint_state_controller'],
-                shell=True,
-                output='screen',
-            )
+    spawn_joint_state_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['joint_state_controller'],
+    )
 
-    spawn_arm_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner crane_x7_arm_controller'],
-                shell=True,
-                output='screen',
-            )
+    spawn_arm_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['crane_x7_arm_controller'],
+    )
 
-    spawn_gripper_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner crane_x7_gripper_controller'],
-                shell=True,
-                output='screen',
-            )
+    spawn_gripper_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['crane_x7_gripper_controller'],
+    )
 
-    return LaunchDescription([
-      declare_loaded_description,
-      controller_manager,
-      spawn_joint_state_controller,
-      spawn_arm_controller,
-      spawn_gripper_controller
-    ])
+    return LaunchDescription(
+        [
+            declare_loaded_description,
+            controller_manager,
+            spawn_joint_state_controller,
+            spawn_arm_controller,
+            spawn_gripper_controller,
+        ]
+    )

crane_x7_examples/launch/camera_example.launch.py

@@ -12,78 +12,59 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
-from ament_index_python.packages import get_package_share_directory
 from crane_x7_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from launch_ros.actions import SetParameter
-import yaml
-
-
-def load_file(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, 'r') as file:
-            return file.read()
-    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
-        return None
-
-
-def load_yaml(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, 'r') as file:
-            return yaml.safe_load(file)
-    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
-        return None
+from moveit_configs_utils import MoveItConfigsBuilder
 
 
 def generate_launch_description():
-    description_loader = RobotDescriptionLoader()
-
-    robot_description_semantic_config = load_file(
-        'crane_x7_moveit_config', 'config/crane_x7.srdf')
-    robot_description_semantic = {
-        'robot_description_semantic': robot_description_semantic_config}
-
-    kinematics_yaml = load_yaml('crane_x7_moveit_config', 'config/kinematics.yaml')
-
     declare_example_name = DeclareLaunchArgument(
-        'example', default_value='color_detection',
-        description=('Set an example executable name: '
-                     '[color_detection, aruco_detection, point_cloud_detection]')
+        'example',
+        default_value='color_detection',
+        description=(
+            'Set an example executable name: '
+            '[color_detection, aruco_detection, point_cloud_detection]'
+        ),
     )
 
     declare_use_sim_time = DeclareLaunchArgument(
-        'use_sim_time', default_value='false',
-        description=('Set true when using the gazebo simulator.')
+        'use_sim_time',
+        default_value='false',
+        description=('Set true when using the gazebo simulator.'),
     )
 
-    picking_node = Node(name='pick_and_place_tf',
-                        package='crane_x7_examples',
-                        executable='pick_and_place_tf',
-                        output='screen',
-                        parameters=[{'robot_description': description_loader.load()},
-                                    robot_description_semantic,
-                                    kinematics_yaml])
+    description_loader = RobotDescriptionLoader()
+
+    moveit_config = MoveItConfigsBuilder('crane_x7').to_moveit_configs()
+    moveit_config.robot_description = {
+        'robot_description': description_loader.load(),
+    }
+
+    picking_node = Node(
+        name='pick_and_place_tf',
+        package='crane_x7_examples',
+        executable='pick_and_place_tf',
+        output='screen',
+        parameters=[moveit_config.to_dict()],
+    )
 
-    detection_node = Node(name=[LaunchConfiguration('example'), '_node'],
-                          package='crane_x7_examples',
-                          executable=LaunchConfiguration('example'),
-                          output='screen')
+    detection_node = Node(
+        name=[LaunchConfiguration('example'), '_node'],
+        package='crane_x7_examples',
+        executable=LaunchConfiguration('example'),
+        output='screen',
+    )
 
-    return LaunchDescription([
-        declare_use_sim_time,
-        SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
-        picking_node,
-        detection_node,
-        declare_example_name
-    ])
+    return LaunchDescription(
+        [
+            declare_use_sim_time,
+            SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
+            picking_node,
+            detection_node,
+            declare_example_name,
+        ]
+    )

crane_x7_examples/launch/demo.launch.py

@@ -27,55 +27,41 @@
 
 def generate_launch_description():
     declare_port_name = DeclareLaunchArgument(
-        'port_name',
-        default_value='/dev/ttyUSB0',
-        description='Set port name.'
+        'port_name', default_value='/dev/ttyUSB0', description='Set port name.'
     )
 
     declare_baudrate = DeclareLaunchArgument(
-        'baudrate',
-        default_value='3000000',
-        description='Set baudrate.'
+        'baudrate', default_value='3000000', description='Set baudrate.'
     )
 
     declare_use_d435 = DeclareLaunchArgument(
-        'use_d435',
-        default_value='false',
-        description='Use d435.'
+        'use_d435', default_value='false', description='Use d435.'
     )
 
     declare_use_mock_components = DeclareLaunchArgument(
-        'use_mock_components',
-        default_value='false',
-        description='Use mock_components or not.'
+        'use_mock_components', default_value='false', description='Use mock_components or not.'
     )
 
     config_file_path = os.path.join(
-        get_package_share_directory('crane_x7_control'),
-        'config',
-        'manipulator_config.yaml'
+        get_package_share_directory('crane_x7_control'), 'config', 'manipulator_config.yaml'
     )
 
     links_file_path = os.path.join(
-        get_package_share_directory('crane_x7_control'),
-        'config',
-        'manipulator_links.csv'
+        get_package_share_directory('crane_x7_control'), 'config', 'manipulator_links.csv'
     )
 
     declare_rviz_config = DeclareLaunchArgument(
         'rviz_config',
-        default_value=get_package_share_directory(
-            'crane_x7_moveit_config'
-        ) + '/config/moveit.rviz',
+        default_value=get_package_share_directory('crane_x7_moveit_config')
+        + '/config/moveit.rviz',
         description='Set the path to rviz configuration file.',
         condition=UnlessCondition(LaunchConfiguration('use_d435')),
     )
 
     declare_rviz_config_camera = DeclareLaunchArgument(
         'rviz_config',
-        default_value=get_package_share_directory(
-            'crane_x7_examples'
-        ) + '/launch/camera_example.rviz',
+        default_value=get_package_share_directory('crane_x7_examples')
+        + '/launch/camera_example.rviz',
         description='Set the path to rviz configuration file.',
         condition=IfCondition(LaunchConfiguration('use_d435')),
     )
@@ -92,43 +78,48 @@ def generate_launch_description():
     description = description_loader.load()
 
     move_group = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
+        PythonLaunchDescriptionSource(
+            [
                 get_package_share_directory('crane_x7_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            launch_arguments={
-                'loaded_description': description,
-                'rviz_config': LaunchConfiguration('rviz_config')
-            }.items()
-        )
+                '/launch/run_move_group.launch.py',
+            ]
+        ),
+        launch_arguments={
+            'loaded_description': description,
+            'rviz_config': LaunchConfiguration('rviz_config'),
+        }.items(),
+    )
 
     control_node = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_x7_control'),
-                '/launch/crane_x7_control.launch.py']),
-            launch_arguments={'loaded_description': description}.items()
-        )
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory('crane_x7_control'), '/launch/crane_x7_control.launch.py']
+        ),
+        launch_arguments={'loaded_description': description}.items(),
+    )
 
     realsense_node = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('realsense2_camera'),
-                '/launch/rs_launch.py']),
-            condition=IfCondition(LaunchConfiguration('use_d435')),
-            launch_arguments={
-                'camera_namespace': '',
-                'device_type': 'd435',
-                'pointcloud.enable': 'true',
-                'align_depth.enable': 'true',
-            }.items()
-        )
-
-    return LaunchDescription([
-        declare_port_name,
-        declare_baudrate,
-        declare_use_d435,
-        declare_use_mock_components,
-        declare_rviz_config,
-        declare_rviz_config_camera,
-        move_group,
-        control_node,
-        realsense_node
-    ])
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory('realsense2_camera'), '/launch/rs_launch.py']
+        ),
+        condition=IfCondition(LaunchConfiguration('use_d435')),
+        launch_arguments={
+            'camera_namespace': '',
+            'device_type': 'd435',
+            'pointcloud.enable': 'true',
+            'align_depth.enable': 'true',
+        }.items(),
+    )
+
+    return LaunchDescription(
+        [
+            declare_port_name,
+            declare_baudrate,
+            declare_use_d435,
+            declare_use_mock_components,
+            declare_rviz_config,
+            declare_rviz_config_camera,
+            move_group,
+            control_node,
+            realsense_node,
+        ]
+    )