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Each demo should have it's own launch to handle bts and workcells, up…
…date readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,250 @@ | ||
| # Copyright (C) 2022 Johnson & Johnson | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
| import sys | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import ( | ||
| DeclareLaunchArgument, | ||
| GroupAction, | ||
| IncludeLaunchDescription, | ||
| LogInfo, | ||
| OpaqueFunction, | ||
| SetEnvironmentVariable, | ||
| ) | ||
| from launch.conditions import IfCondition | ||
| from launch.substitutions import LaunchConfiguration, PathJoinSubstitution | ||
| from launch_ros.substitutions import FindPackageShare | ||
|
|
||
|
|
||
| def launch_setup(context, *args, **kwargs): | ||
| if ( | ||
| "RMW_IMPLEMENTATION" not in os.environ | ||
| or os.environ["RMW_IMPLEMENTATION"] != "rmw_cyclonedds_cpp" | ||
| ): | ||
| print( | ||
| "Only cycloneDDS is supported, the environment variable RMW_IMPLEMENTATION must be set to rmw_cyclonedds_cpp", | ||
| file=sys.stderr, | ||
| ) | ||
| exit(1) | ||
|
|
||
| headless = LaunchConfiguration("headless") | ||
| use_zenoh_bridge = LaunchConfiguration("use_zenoh_bridge") | ||
| use_fake_hardware = LaunchConfiguration("use_fake_hardware") | ||
| robot1_ip = LaunchConfiguration("robot1_ip") | ||
| robot2_ip = LaunchConfiguration("robot2_ip") | ||
| run_workcell_1 = LaunchConfiguration("run_workcell_1") | ||
| run_workcell_2 = LaunchConfiguration("run_workcell_2") | ||
|
|
||
| control_center_domain_id = 0 | ||
| workcell_1_domain_id = 0 | ||
| workcell_2_domain_id = 0 | ||
| log_msg = "" | ||
|
|
||
| if "ROS_DOMAIN_ID" in os.environ: | ||
| control_center_domain_id = int(os.environ["ROS_DOMAIN_ID"]) | ||
| if not 0 < control_center_domain_id < 230: | ||
| log_msg += ( | ||
| "ROS_DOMAIN_ID not within the range of 0 to 230, setting it to 0. \n" | ||
| ) | ||
| control_center_domain_id = 0 | ||
|
|
||
| if use_zenoh_bridge.perform(context).lower() == "true": | ||
| log_msg += "Using the zenoh bridge\n" | ||
| workcell_1_domain_id = control_center_domain_id + 1 | ||
| workcell_2_domain_id = control_center_domain_id + 2 | ||
| else: | ||
| log_msg += "Not using zenoh bridge\n" | ||
| if ( | ||
| run_workcell_1.perform(context).lower() == "true" | ||
| and run_workcell_2.perform(context).lower() == "true" | ||
| ): | ||
| print("To run both workcells, enable the Zenoh Bridge") | ||
| sys.exit(1) | ||
| workcell_1_domain_id = control_center_domain_id | ||
| workcell_2_domain_id = control_center_domain_id | ||
| log_msg += f"Control Center has ROS_DOMAIN_ID {control_center_domain_id}\n" | ||
| if run_workcell_1.perform(context).lower() == "true": | ||
| log_msg += f"Workcell 1 has ROS_DOMAIN_ID {workcell_1_domain_id}\n" | ||
| if run_workcell_2.perform(context).lower() == "true": | ||
| log_msg += f"Workcell 2 has ROS_DOMAIN_ID {workcell_2_domain_id}\n" | ||
|
|
||
| launch_control_center = GroupAction( | ||
| actions=[ | ||
| IncludeLaunchDescription( | ||
| [ | ||
| PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare("nexus_integration_tests"), | ||
| "launch", | ||
| "control_center.launch.py", | ||
| ] | ||
| ) | ||
| ], | ||
| launch_arguments={ | ||
| "ros_domain_id": str(control_center_domain_id), | ||
| "zenoh_config_package": "nexus_integration_tests", | ||
| "zenoh_config_filename": "config/zenoh/system_orchestrator.json5", | ||
| "transporter_plugin": "nexus_transporter::MockTransporter", | ||
| "activate_system_orchestrator": headless, | ||
| "main_bt_package": "nexus_demos", | ||
| "main_bt_filename": "main_rmf.xml", | ||
| "remap_task_types": """{ | ||
| pick_and_place_rmf: [place_on_amr, pick_from_amr] | ||
| }""", | ||
| "headless": headless, | ||
| }.items(), | ||
| ), | ||
| ], | ||
| ) | ||
|
|
||
| launch_workcell_1 = GroupAction( | ||
| actions=[ | ||
| IncludeLaunchDescription( | ||
| [ | ||
| PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare("nexus_integration_tests"), | ||
| "launch", | ||
| "workcell.launch.py", | ||
| ] | ||
| ) | ||
| ], | ||
| launch_arguments={ | ||
| "workcell_id": "workcell_1", | ||
| "bt_path": ( | ||
| FindPackageShare("nexus_demos"), | ||
| "/config/workcell_1_bts", | ||
| ), | ||
| "task_checker_plugin": "nexus::task_checkers::FilepathChecker", | ||
| "ros_domain_id": str(workcell_1_domain_id), | ||
| "headless": headless, | ||
| "use_zenoh_bridge": use_zenoh_bridge, | ||
| "controller_config_package": "nexus_integration_tests", | ||
| "planner_config_package": "nexus_integration_tests", | ||
| "planner_config_file": "abb_irb910sc_planner_params.yaml", | ||
| "support_package": "abb_irb910sc_support", | ||
| "robot_xacro_file": "irb910sc_3_45.xacro", | ||
| "moveit_config_package": "abb_irb910sc_3_45_moveit_config", | ||
| "moveit_config_file": "abb_irb910sc_3_45.srdf.xacro", | ||
| "controllers_file": "abb_irb910sc_controllers.yaml", | ||
| "tf_publisher_launch_file": "workcell_1_tf.launch.py", | ||
| "sku_detection_params_file": "product_detector_config.yaml", | ||
| "dispenser_properties": "productA", | ||
| "use_fake_hardware": use_fake_hardware, | ||
| "robot_ip": robot1_ip, | ||
| "zenoh_config_package": "nexus_integration_tests", | ||
| "zenoh_config_filename": "config/zenoh/workcell_1.json5", | ||
| }.items(), | ||
| condition=IfCondition(run_workcell_1), | ||
| ) | ||
| ], | ||
| ) | ||
|
|
||
| launch_workcell_2 = GroupAction( | ||
| actions=[ | ||
| IncludeLaunchDescription( | ||
| [ | ||
| PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare("nexus_integration_tests"), | ||
| "launch", | ||
| "workcell.launch.py", | ||
| ] | ||
| ) | ||
| ], | ||
| launch_arguments={ | ||
| "workcell_id": "workcell_2", | ||
| "bt_path": ( | ||
| FindPackageShare("nexus_demos"), | ||
| "/config/workcell_2_bts", | ||
| ), | ||
| "task_checker_plugin": "nexus::task_checkers::FilepathChecker", | ||
| "ros_domain_id": str(workcell_2_domain_id), | ||
| "headless": headless, | ||
| "use_zenoh_bridge": use_zenoh_bridge, | ||
| "controller_config_package": "nexus_integration_tests", | ||
| "planner_config_package": "nexus_integration_tests", | ||
| "planner_config_file": "abb_irb1300_planner_params.yaml", | ||
| "support_package": "abb_irb1300_support", | ||
| "robot_xacro_file": "irb1300_10_115.xacro", | ||
| "moveit_config_package": "abb_irb1300_10_115_moveit_config", | ||
| "moveit_config_file": "abb_irb1300_10_115.srdf.xacro", | ||
| "controllers_file": "abb_irb1300_controllers.yaml", | ||
| "tf_publisher_launch_file": "workcell_2_tf.launch.py", | ||
| "sku_detection_params_file": "product_detector_config.yaml", | ||
| "dispenser_properties": "productB", | ||
| "use_fake_hardware": use_fake_hardware, | ||
| "robot_ip": robot2_ip, | ||
| "zenoh_config_package": "nexus_integration_tests", | ||
| "zenoh_config_filename": "config/zenoh/workcell_2.json5", | ||
| }.items(), | ||
| condition=IfCondition(run_workcell_2), | ||
| ) | ||
| ], | ||
| ) | ||
|
|
||
| return [ | ||
| LogInfo(msg=log_msg), | ||
| launch_control_center, | ||
| launch_workcell_1, | ||
| launch_workcell_2, | ||
| ] | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| return LaunchDescription( | ||
| [ | ||
| DeclareLaunchArgument( | ||
| "headless", | ||
| default_value="true", | ||
| description="Launch in headless mode (no gui)", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "use_zenoh_bridge", | ||
| default_value="true", | ||
| description="Set true to launch the Zenoh DDS Bridge with each orchestrator\ | ||
| in different domains. Else, all orchestrators are launched under the \ | ||
| same Domain ID without a Zenoh bridge.", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "use_fake_hardware", | ||
| default_value="true", | ||
| description="Set True if running with real hardware.", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "robot1_ip", | ||
| default_value="", | ||
| description="The IP address of workcell 1 robot when use_fake_hardware is False.", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "robot2_ip", | ||
| default_value="", | ||
| description="The IP address of workcell 1 robot when use_fake_hardware is False.", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "run_workcell_1", | ||
| default_value="true", | ||
| description="Whether to run workcell_1", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "run_workcell_2", | ||
| default_value="true", | ||
| description="Whether to run workcell_2", | ||
| ), | ||
| SetEnvironmentVariable("RCUTILS_COLORIZED_OUTPUT", "1"), | ||
| OpaqueFunction(function=launch_setup), | ||
| ] | ||
| ) |
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