Remove rrbot_base.launch.py from example folders (#268)

* Example 3: remove rrbot_base launch file

* Example 4: remove rrbot_base launch file

* Example 5: remove rrbot_base launch file

* Example 6: remove rrbot_base launch file

* Example 8: remove rrbot_base launch file

example_3/bringup/launch/rrbot_system_multi_interface.launch.py

@@ -1,4 +1,4 @@
-# Copyright 2021 Department of Engineering Cybernetics, NTNU.
+# 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():
@@ -30,6 +34,21 @@ def generate_launch_description():
         have to be updated.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="false",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "mock_sensor_commands",
+            default_value="false",
+            description="Enable fake command interfaces for sensors used for simple simulations. \
+            Used only if 'use_mock_hardware' parameter is true.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "slowdown", default_value="50.0", description="Slowdown factor of the RRbot."
@@ -42,23 +61,116 @@ def generate_launch_description():
             description="Robot controller to start.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "start_rviz",
+            default_value="true",
+            description="Start RViz2 automatically with this launch file.",
+        )
+    )
 
     # Initialize Arguments
     prefix = LaunchConfiguration("prefix")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
+    start_rviz = LaunchConfiguration("start_rviz")
+
+    # Get URDF via xacro
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_3"),
+                    "urdf",
+                    "rrbot_system_multi_interface.urdf.xacro",
+                ]
+            ),
+            " ",
+            "prefix:=",
+            prefix,
+            " ",
+            "use_mock_hardware:=",
+            use_mock_hardware,
+            " ",
+            "mock_sensor_commands:=",
+            mock_sensor_commands,
+            " ",
+            "slowdown:=",
+            slowdown,
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
 
-    base_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]),
-        launch_arguments={
-            "controllers_file": "rrbot_multi_interface_forward_controllers.yaml",
-            "description_file": "rrbot_system_multi_interface.urdf.xacro",
-            "prefix": prefix,
-            "use_mock_hardware": "false",
-            "mock_sensor_commands": "false",
-            "slowdown": slowdown,
-            "robot_controller": robot_controller,
-        }.items(),
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("ros2_control_demo_example_3"),
+            "config",
+            "rrbot_multi_interface_forward_controllers.yaml",
+        ]
+    )
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare("ros2_control_demo_example_3"), "rviz", "rrbot.rviz"]
     )
 
-    return LaunchDescription(declared_arguments + [base_launch])
+    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(start_rviz),
+    )
+
+    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)