Refactorization for launch files

launch/move_group_gui.launch.py

@@ -0,0 +1,96 @@
+from launch import LaunchDescription
+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()
+    )
+
+    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_state_publisher_node = Node(
+        package = "robot_state_publisher",
+        executable = "robot_state_publisher",
+        parameters = [moveit_config.robot_description],
+        output = "both"
+    )            
+
+    ros2_control_node = Node(
+        package = "controller_manager",
+        executable = "ros2_control_node",
+        parameters = [moveit_config.robot_description, ros2_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",
+        arguments = ["joint_state_broadcaster", "--controller-manager", "/controller_manager"]
+    )
+
+    joint_trajectory_controller_spawner = Node(
+        package = "controller_manager",
+        executable = "spawner",
+        arguments = ["e1_group_controller", "e2_group_controller", "e3_group_controller", "e4_group_controller", "e5_group_controller", "e6_group_controller", "--controller-manager", "/controller_manager"]
+    )
+
+
+    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,
+            on_exit = [joint_trajectory_controller_spawner]
+        )
+    )
+
+
+    nodes = [
+        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
+    ]
+            
+    return LaunchDescription(nodes)
+            

launch/rviz.launch.py

@@ -0,0 +1,37 @@
+from launch import LaunchDescription
+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()
+    )
+
+    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]
+    )
+    nodes = [
+        rviz_node
+    ]
+            
+    return LaunchDescription(nodes)
+