robot.launch

<?xml version="1.0"?>
<launch>

  <!-- Gazebo & GUI Configuration -->
  <arg name="gazebo"      default="true"  doc="Should the gazebo simulation be launched? Use false in case if you want to include this file and launch gazebo yourself" />
  <arg name="headless"    default="false" doc="Should the gazebo GUI be launched?" />
  <arg name="paused"      default="false" doc="Should the simulation directly be stopped at 0s?" />
  <arg name="world"       default="worlds/empty.world" doc="Filename to a SDF World for gazebo to use" />
  <arg name="rviz"        default="false" doc="Should RVIz be launched?" />

  <!-- Robot Customization -->
  <arg name="robot"                       doc="Which robot to spawn (one of {panda,fr3})" />
  <arg name="arm_id"      default="$(arg robot)" doc="Name of the robot to spawn" />
  <arg name="use_gripper" default="true"  doc="Should a franka hand be mounted on the flange?" />
  <arg name="controller"  default=" "     doc="Which example controller should be started? (One of {cartesian_impedance,model,force,joint_position,joint_velocity}_example_controller)" />
  <arg name="x"           default="0"     doc="How far forward to place the base of the robot in [m]?" />
  <arg name="y"           default="0"     doc="How far leftwards to place the base of the robot in [m]?" />
  <arg name="z"           default="0"     doc="How far upwards to place the base of the robot in [m]?" />
  <arg name="roll"        default="0"     doc="How much to rotate the base of the robot around its X-axis in [rad]?" />
  <arg name="pitch"       default="0"     doc="How much to rotate the base of the robot around its Y-axis in [rad]?" />
  <arg name="yaw"         default="0"     doc="How much to rotate the base of the robot around its Z-axis in [rad]?" />
  <arg name="xacro_args"  default=""      doc="Additional arguments to pass to panda.urdf.xacro" />
  <arg name="initial_joint_positions"
       doc="Initial joint configuration of the panda. Specify as a list of name/value pairs in form of '-J [name-of-joint] [value-in-rad]'. Default is a 90 degree bend in the elbow"
       default="-J $(arg arm_id)_joint1 0
                -J $(arg arm_id)_joint2 -0.785398163
                -J $(arg arm_id)_joint3 0
                -J $(arg arm_id)_joint4 -2.35619449
                -J $(arg arm_id)_joint5 0
                -J $(arg arm_id)_joint6 1.57079632679
                -J $(arg arm_id)_joint7 0.785398163397
                -J $(arg arm_id)_finger_joint1 0.001
                -J $(arg arm_id)_finger_joint2 0.001"
       />
  <arg name="interactive_marker" default="$(eval arg('controller') == 'cartesian_impedance_example_controller')" doc="Should the interactive marker node be started?" />

  <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg gazebo)">
    <arg name="world_name" value="$(arg world)"/>
    <!-- Always start in paused mode, and only unpause when spawning the model -->
    <arg name="paused" value="true"/>
    <arg name="gui" value="$(eval not arg('headless'))"/>
    <arg name="use_sim_time" value="true"/>
  </include>

  <param name="robot_description"
         command="xacro $(find franka_description)/robots/$(arg robot)/$(arg robot).urdf.xacro
                  gazebo:=true
                  hand:=$(arg use_gripper)
                  arm_id:=$(arg arm_id)
                  xyz:='$(arg x) $(arg y) $(arg z)'
                  rpy:='$(arg roll) $(arg pitch) $(arg yaw)'
                  $(arg xacro_args)">
  </param>

  <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
  <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />

  <param name="m_ee" value="0.76" if="$(arg use_gripper)" />

  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
  <node name="$(arg arm_id)_model_spawner"
        pkg="gazebo_ros"
        type="spawn_model"
        args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause)
              $(arg initial_joint_positions)
              "/>

  <!-- Spawn required ROS controllers -->
  <node pkg="controller_manager"
        type="spawner"
        name="$(arg arm_id)_gripper_spawner"
        if="$(arg use_gripper)"
        args="franka_gripper"
        respawn="false"
  />

  <!-- spawns the controller after the robot was put into its initial joint pose -->
  <node pkg="controller_manager"
        type="spawner"
        name="$(arg arm_id)_controller_spawner"
        respawn="false" output="screen"
        args="--wait-for initialized franka_state_controller $(arg controller)"
  />

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
    <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
    <param name="rate" value="30"/>
  </node>

  <!-- Start only if cartesian_impedance_example_controller -->
  <node name="interactive_marker"
        pkg="franka_example_controllers"
        type="interactive_marker.py"
        if="$(arg interactive_marker)">
    <param name="link_name" value="$(arg arm_id)_link0" />
    <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
  </node>

  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-f $(arg arm_id)_link0 -d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz --splash-screen $(find franka_visualization)/splash.png" if="$(arg rviz)"/>

</launch>