Split arm and drive bringup files into rover and base station

src/subsystems/arm/arm_bringup/launch/athena_arm.base_station.launch.py

@@ -0,0 +1,55 @@
+# Copyright 2023 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    # -- Declare arguments --
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "runtime_config_package",
+            default_value="arm_bringup",
+            description='Package with the controller\'s configuration in "config" folder.',
+        )
+    )
+
+    # -- Initialize Arguments --
+    runtime_config_package = LaunchConfiguration("runtime_config_package")
+
+    # -- Building Path Files --
+    joystick_config_file = PathJoinSubstitution(
+        [FindPackageShare(runtime_config_package), 'config', 'joystick.yaml']
+    )
+
+    # -- Node Definitions -- 
+    joystick_publisher = Node(
+        package='teleop',
+        executable='joystick',
+        name='joystick',
+        output='screen',
+        parameters=[joystick_config_file],
+    )
+
+    return LaunchDescription(
+        declared_arguments +
+        [
+            joystick_publisher,
+        ]
+    )

src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py

@@ -0,0 +1,238 @@
+# Copyright 2023 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import RegisterEventHandler, DeclareLaunchArgument, TimerAction
+from launch.event_handlers import OnProcessExit, OnProcessStart
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    # -- Declare arguments --
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "runtime_config_package",
+            default_value="arm_bringup",
+            description='Package with the controller\'s configuration in "config" folder.',
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "controllers_file",
+            default_value="athena_arm_controllers.yaml",
+            description="YAML file with the controllers configuration.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="description",
+            description="Description package with robot URDF/xacro files.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value="athena_arm.urdf.xacro",
+            description="URDF/XACRO description file with the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "prefix",
+            default_value='""',
+            description="Prefix of the joint names.",
+        )
+    )
+    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 mock command interfaces for sensors.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_controller",
+            default_value="manual_arm_joint_by_joint_controller",
+            choices=["manual_arm_joint_by_joint_controller"],
+            description="Robot controller to start.",
+        )
+    )
+
+    # -- Initialize Arguments --
+    runtime_config_package = LaunchConfiguration("runtime_config_package")
+    controllers_file = LaunchConfiguration("controllers_file")
+    description_package = LaunchConfiguration("description_package")
+    prefix = LaunchConfiguration("prefix")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
+    robot_controller = LaunchConfiguration("robot_controller")
+
+    # -- Building Path Files --
+    robot_description_path = PathJoinSubstitution(
+        [FindPackageShare("description"), "urdf", "athena_arm.urdf.xacro"]
+    )
+    robot_controllers = PathJoinSubstitution(
+        [FindPackageShare(runtime_config_package), "config", controllers_file]
+    )
+
+    # -- Additional Configuration Setup --
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            robot_description_path,
+            " ",
+            "prefix:=",
+            prefix,
+            " ",
+            "use_mock_hardware:=",
+            use_mock_hardware,
+            " ",
+            "mock_sensor_commands:=",
+            mock_sensor_commands,
+            " ",
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    # -- Node Definitions -- 
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        output="both",
+        parameters=[robot_controllers],
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster"],
+    )
+
+    robot_controller_names = [robot_controller]
+    robot_controller_spawners = []
+    for controller in robot_controller_names:
+        robot_controller_spawners += [
+            Node(
+                package="controller_manager",
+                executable="spawner",
+                arguments=[controller, "-c", "/controller_manager"],
+            )
+        ]
+
+    inactive_robot_controller_names = ["manual_arm_cylindrical_controller", "joint_trajectory_controller", "arm_velocity_controller"]
+    inactive_robot_controller_spawners = []
+    for controller in inactive_robot_controller_names:
+        inactive_robot_controller_spawners += [
+            Node(
+                package="controller_manager",
+                executable="spawner",
+                arguments=[controller, "-c", "/controller_manager", "--inactive"],
+            )
+        ]
+
+    # Handle switching between controllers
+    controller_switcher_node = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=inactive_robot_controller_spawners[-1],
+            on_exit=[TimerAction(
+                period=3.0,
+                actions=[Node(
+                    package="arm_bringup",
+                    executable="controller_switcher.py",
+                    name="controller_switcher",
+                    output="screen"
+                )]
+            )],
+        )
+    )
+
+    # Delay loading and activation of `joint_state_broadcaster` after start of ros2_control_node
+    delay_joint_state_broadcaster_spawner_after_ros2_control_node = RegisterEventHandler(
+        event_handler=OnProcessStart(
+            target_action=control_node,
+            on_start=[
+                TimerAction(
+                    period=3.0,
+                    actions=[joint_state_broadcaster_spawner],
+                ),
+            ],
+        )
+    )
+
+    # Delay loading and activation of robot_controller_names after `joint_state_broadcaster`
+    delay_robot_controller_spawners_after_joint_state_broadcaster_spawner = []
+    for i, controller in enumerate(robot_controller_spawners):
+        delay_robot_controller_spawners_after_joint_state_broadcaster_spawner += [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=(
+                        robot_controller_spawners[i - 1]
+                        if i > 0
+                        else joint_state_broadcaster_spawner
+                    ),
+                    on_exit=[controller],
+                )
+            )
+        ]
+
+    # Delay start of inactive_robot_controller_names after other controllers
+    delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner = []
+    for i, controller in enumerate(inactive_robot_controller_spawners):
+        delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner += [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=(
+                        inactive_robot_controller_spawners[i - 1]
+                        if i > 0
+                        else robot_controller_spawners[-1]
+                    ),
+                    on_exit=[controller],
+                )
+            )
+        ]
+
+    return LaunchDescription(
+        declared_arguments +
+        [
+            control_node,
+            robot_state_pub_node,
+            delay_joint_state_broadcaster_spawner_after_ros2_control_node,
+            controller_switcher_node,
+        ]
+        + delay_robot_controller_spawners_after_joint_state_broadcaster_spawner
+        + delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner
+    )

src/subsystems/drive/drive_bringup/launch/athena_drive.base_station.launch.py

@@ -0,0 +1,87 @@
+# Copyright (c) 2024, 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.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # -- Declare arguments --
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "runtime_config_package",
+            default_value="drive_bringup",
+            description='Package with the controller\'s configuration in "config" folder.',
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "joystick_config",
+            default_value="joystick.yaml",
+            description="YAML file with the joystick configuration.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "teleop_twist_config",
+            default_value="teleop_twist.yaml",
+            description="YAML file with the teleop_twist_node configuration.",
+        )
+    )
+
+    # -- Initialize Arguments --
+    runtime_config_package = LaunchConfiguration("runtime_config_package")
+    joystick_config = LaunchConfiguration("joystick_config")
+    teleop_twist_config = LaunchConfiguration("teleop_twist_config")
+
+    # -- Building Path Files --
+    joystick_config = PathJoinSubstitution(
+        [FindPackageShare(runtime_config_package), "config", joystick_config]
+    )
+    teleop_twist_config = PathJoinSubstitution(
+        [FindPackageShare(runtime_config_package), "config", teleop_twist_config]
+    )
+
+    # -- Node Definitions -- 
+    joystick_publisher = Node(
+        package='teleop',
+        executable='joystick',
+        name='joystick',
+        output='screen',
+        parameters=[joystick_config],
+        remappings=[
+            ('controller_input', 'joy'),
+            ('/controller_input', '/joy'),
+        ],
+    )
+
+    teleop_twist_joy = Node(
+        package='teleop_twist_joy',
+        executable='teleop_node',
+        name='teleop_twist_joy',
+        output='screen',
+        parameters=[teleop_twist_config],
+    )
+
+    return LaunchDescription(
+        declared_arguments + 
+        [
+            joystick_publisher,
+            teleop_twist_joy,
+        ]
+    )