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First hacky implementation of reusing the initial_positions for view_ur #24

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First hacky implementation of reusing the initial_positions for view_ur #24

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22 changes: 17 additions & 5 deletions launch/view_ur.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,17 @@
#
# Author: Denis Stogl

import os

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from ament_index_python.packages import get_package_share_directory
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

import yaml


def generate_launch_description():
declared_arguments = []
Expand Down Expand Up @@ -131,13 +136,24 @@ def generate_launch_description():
)
robot_description = {"robot_description": robot_description_content}

initial_positions_file = os.path.join(
get_package_share_directory("ur_description"), "config", "initial_positions.yaml"
)
print(initial_positions_file)
with open(initial_positions_file, "r") as stream:
try:
initial_positions = yaml.safe_load(stream)
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I don't like much this direct dependency on yaml.

Can we do something like in Driver#308

except yaml.YAMLError as exc:
print(exc)

rviz_config_file = PathJoinSubstitution(
[FindPackageShare(description_package), "rviz", "view_robot.rviz"]
)

joint_state_publisher_node = Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
parameters=[{"zeros": initial_positions}],
)
robot_state_publisher_node = Node(
package="robot_state_publisher",
Expand All @@ -153,10 +169,6 @@ def generate_launch_description():
arguments=["-d", rviz_config_file],
)

nodes_to_start = [
joint_state_publisher_node,
robot_state_publisher_node,
rviz_node,
]
nodes_to_start = [joint_state_publisher_node, robot_state_publisher_node, rviz_node]
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I would prefer to keep this "multi-row" because it is easier to read and add nodes if needed. I expect people to copy-paste and extend this file.


return LaunchDescription(declared_arguments + nodes_to_start)