Use global description package and update launch files

example_14/CMakeLists.txt

@@ -51,7 +51,7 @@ install(
   DESTINATION include/ros2_control_demo_example_14
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/rviz
+  DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_14
 )
 install(

example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py

@@ -1,4 +1,4 @@
-# Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -13,9 +13,13 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
@@ -26,8 +30,8 @@ def generate_launch_description():
             "prefix",
             default_value='""',
             description="Prefix of the joint names, useful for \
-        multi-robot setup. If changed, joint names in the controllers' configuration \
-        also have to be updated.",
+        multi-robot setup. If changed than also joint names in the controllers' configuration \
+        have to be updated.",
         )
     )
     declared_arguments.append(
@@ -42,22 +46,108 @@ def generate_launch_description():
             description="Robot controller to start.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "gui",
+            default_value="true",
+            description="Start RViz2 automatically with this launch file.",
+        )
+    )
 
     # Initialize Arguments
     prefix = LaunchConfiguration("prefix")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
+    gui = LaunchConfiguration("gui")
+
+    # Get URDF via xacro
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_14"),
+                    "urdf",
+                    "rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.urdf.xacro",
+                ]
+            ),
+            " ",
+            "prefix:=",
+            prefix,
+            " ",
+            "slowdown:=",
+            slowdown,
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("ros2_control_demo_example_14"),
+            "config",
+            "rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml",
+        ]
+    )
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
+    )
 
-    base_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]),
-        launch_arguments={
-            "controllers_file": "rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml",
-            "description_file": "rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.urdf.xacro",
-            "prefix": prefix,
-            "use_fake_hardware": "false",
-            "slowdown": slowdown,
-            "robot_controller": robot_controller,
-        }.items(),
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+        condition=IfCondition(gui),
     )
 
-    return LaunchDescription(declared_arguments + [base_launch])
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
+    )
+
+    # Delay rviz start after `joint_state_broadcaster`
+    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[rviz_node],
+        )
+    )
+
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
+        )
+    )
+
+    nodes = [
+        control_node,
+        robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes)