import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
# planning_context
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.to_moveit_configs()
)
# Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation
move_group_capabilities = {
"capabilities": "move_group/ExecuteTaskSolutionCapability"
}
# Start the actual move_group node/action server
run_move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[
moveit_config.to_dict(),
move_group_capabilities,
],
)
# RViz
rviz_config_file = (
get_package_share_directory("moveit2_tutorials") + "/launch/mtc.rviz"
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
parameters=[
moveit_config.robot_description,
moveit_config.robot_description_semantic,
],
)
# Static TF
static_tf = Node(
package="tf2_ros",
executable="static_transform_publisher",
name="static_transform_publisher",
output="log",
arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"],
)
# Publish TF
robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="both",
parameters=[
moveit_config.robot_description,
],
)
# ros2_control using FakeSystem as hardware
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config.to_dict(), ros2_controllers_path],
output="both",
)
# Load controllers
load_controllers = []
for controller in [
"panda_arm_controller",
"panda_hand_controller",
"joint_state_broadcaster",
]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner {}".format(controller)],
shell=True,
output="screen",
)
]
return LaunchDescription(
[
rviz_node,
static_tf,
robot_state_publisher,
run_move_group_node,
ros2_control_node,
]
+ load_controllers
)
根据上面提出的几个报错，看看这份启动文件有什么问题
文章介绍了在ROS2Foxy版本中，通过在终端使用特定命令`sudoaptinstallros-foxy-joint-state-publisher`来安装关节状态publisher的方法。
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