Added plain JTC launch file

launch/joint_trajectory_control.launch.py

@@ -3,56 +3,43 @@ from launch.actions import RegisterEventHandler
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
 from launch.event_handlers import OnProcessExit
 
+
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
-from moveit_configs_utils import MoveItConfigsBuilder
-
-
 def generate_launch_description():
 
-    moveit_config = (
-        MoveItConfigsBuilder("hexapod_robot", package_name = "hexapod_robot")
-
-        .planning_scene_monitor(
-            publish_robot_description=True, publish_robot_description_semantic=True
-        )        
-        .planning_pipelines(pipelines = ["ompl"])
-        .to_moveit_configs()
+    robot_description_content = Command([
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("hexapod_robot"),
+                    "config",
+                    "urdf",
+                    "hexapod_robot.urdf.xacro"
+                ]
+            )
+        ]
     )
+    robot_description = {"robot_description": robot_description_content}
 
-    move_group_node = Node(
-        package = "moveit_ros_move_group",
-        executable = "move_group",
-        output = "screen",
-        parameters = [moveit_config.to_dict()]
-    )
-
-    ros2_controllers = PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "ros2_controllers.yaml"])
+    robot_controllers = PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "ros2_controllers.yaml"])
 
     robot_state_publisher_node = Node(
         package = "robot_state_publisher",
         executable = "robot_state_publisher",
-        parameters = [moveit_config.robot_description],
+        parameters = [robot_description],
         output = "both"
     )            
 
-    ros2_control_node = Node(
+    control_node = Node(
         package = "controller_manager",
         executable = "ros2_control_node",
-        parameters = [moveit_config.robot_description, ros2_controllers],
+        parameters = [robot_description, robot_controllers],
         output="both"
     )
 
-    rviz_node = Node(
-        package = "rviz2",
-        executable = "rviz2",
-        arguments = ['-d', PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "hexapod_robot.rviz"])],
-        name = "rviz2",
-        output = "screen",
-        parameters = [moveit_config.planning_pipelines, moveit_config.robot_description_kinematics]
-    )
-
     joint_state_broadcaster_spawner = Node (
         package = "controller_manager",
         executable = "spawner",
@@ -66,14 +53,6 @@ def generate_launch_description():
     )
 
 
-    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler = OnProcessExit(
-            target_action = joint_state_broadcaster_spawner,
-            on_exit = [rviz_node]
-        )
-    )
-
-
     delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler = OnProcessExit(
             target_action = joint_state_broadcaster_spawner,
@@ -81,14 +60,10 @@ def generate_launch_description():
         )
     )
 
-
     nodes = [
+        control_node,
         robot_state_publisher_node,
-        move_group_node,
-        ros2_control_node,
         joint_state_broadcaster_spawner,
-        delay_rviz_after_joint_state_broadcaster_spawner,
-        # delay_forward_position_controller_spawner_after_joint_state_broadcaster_spawner,
         delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner
     ]