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JafarAbdiJafarAbdi
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Use moveit_configs_utils for launch files (#365)
1 parent d1fb6ac commit 0128cd9

11 files changed

Lines changed: 95 additions & 398 deletions

‎.github/workflows/ci.yaml‎

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@@ -15,6 +15,10 @@ jobs:
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matrix:
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env:
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# TODO: We have to use -Wno-redundant-decls since rosidl_generator_c is generating broken headers
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- IMAGE: humble-source
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CXXFLAGS: >-
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-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wno-redundant-decls
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-Wno-unused-parameter -Wno-unused-function -Wno-deprecated-copy -Wno-unused-but-set-parameter
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- IMAGE: rolling-source
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NAME: ccov
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
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DOCKER_RUN_OPTS: >-
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-e PRELOAD=libasan.so.5
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-e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0"
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-e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0"
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TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1"
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env:

‎.github/workflows/lsan.suppressions‎

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leak:class_loader
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leak:rviz_default_plugins
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leak:static_transform_broadcaster_node

‎core/package.xml‎

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<test_depend>ament_cmake_gmock</test_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>moveit_configs_utils</test_depend>
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<!-- TODO(JafarAbdi): Enable after porting integration tests-->
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<!-- test_depend>launch</test_depend -->
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<!-- test_depend>launch_testing</test_depend -->

‎core/test/move_to.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,84 +1,34 @@
11
import unittest
2-
import os
3-
import yaml
42

3+
import launch_testing
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import pytest
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
8-
import launch_testing
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from launch_testing.asserts import assertExitCodes
10-
from launch_testing.util import KeepAliveProc
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from launch_testing.actions import ReadyToTest
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import Node
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import pytest
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import xacro
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def load_file(package_name, file_path):
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package_path = get_package_share_directory(package_name)
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absolute_file_path = os.path.join(package_path, file_path)
23-
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try:
25-
with open(absolute_file_path, "r") as file:
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return file.read()
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except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
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return None
29-
30-
31-
def load_yaml(package_name, file_path):
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package_path = get_package_share_directory(package_name)
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absolute_file_path = os.path.join(package_path, file_path)
34-
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try:
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with open(absolute_file_path, "r") as file:
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return yaml.safe_load(file)
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except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
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return None
9+
from launch_testing.actions import ReadyToTest
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from launch_testing.util import KeepAliveProc
11+
from moveit_configs_utils import MoveItConfigsBuilder
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@pytest.mark.launch_test
4315
def generate_test_description():
44-
# planning_context
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robot_description_config = xacro.process_file(
46-
os.path.join(
47-
get_package_share_directory("moveit_resources_panda_moveit_config"),
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"config",
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"panda.urdf.xacro",
50-
)
16+
moveit_config = (
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MoveItConfigsBuilder("moveit_resources_panda")
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.robot_description(file_path="config/panda.urdf.xacro")
19+
.to_moveit_configs()
5120
)
52-
robot_description = {"robot_description": robot_description_config.toxml()}
53-
54-
robot_description_semantic_config = load_file(
55-
"moveit_resources_panda_moveit_config", "config/panda.srdf"
56-
)
57-
robot_description_semantic = {
58-
"robot_description_semantic": robot_description_semantic_config
59-
}
60-
61-
kinematics_yaml = load_yaml(
62-
"moveit_resources_panda_moveit_config", "config/kinematics.yaml"
63-
)
64-
robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
65-
66-
robot_description_planning = {
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"robot_description_planning": load_yaml(
68-
"moveit_resources_panda_moveit_config", "config/joint_limits.yaml"
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)
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}
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test_exec = Node(
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executable=[
7424
LaunchConfiguration("test_binary"),
7525
],
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output="screen",
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parameters=[
78-
robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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robot_description_planning,
28+
moveit_config.robot_description,
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moveit_config.robot_description_semantic,
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moveit_config.robot_description_kinematics,
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moveit_config.joint_limits,
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],
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)
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‎demo/launch/alternative_path_costs.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,72 +1,25 @@
1-
import os
2-
import yaml
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from launch import LaunchDescription
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from launch_ros.actions import Node
5-
from ament_index_python.packages import get_package_share_directory
6-
7-
8-
def load_file(package_name, file_path):
9-
package_path = get_package_share_directory(package_name)
10-
absolute_file_path = os.path.join(package_path, file_path)
11-
12-
try:
13-
with open(absolute_file_path, "r") as file:
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return file.read()
15-
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
16-
return None
17-
18-
19-
def load_yaml(package_name, file_path):
20-
package_path = get_package_share_directory(package_name)
21-
absolute_file_path = os.path.join(package_path, file_path)
22-
23-
try:
24-
with open(absolute_file_path, "r") as file:
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return yaml.safe_load(file)
26-
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
27-
return None
3+
from moveit_configs_utils import MoveItConfigsBuilder
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295

306
def generate_launch_description():
31-
# Get URDF and SRDF
32-
robot_description_config = load_file(
33-
"moveit_resources_panda_description", "urdf/panda.urdf"
34-
)
35-
robot_description = {"robot_description": robot_description_config}
36-
37-
robot_description_semantic_config = load_file(
38-
"moveit_resources_panda_moveit_config", "config/panda.srdf"
39-
)
40-
robot_description_semantic = {
41-
"robot_description_semantic": robot_description_semantic_config
42-
}
43-
44-
kinematics_yaml = load_yaml(
45-
"moveit_resources_panda_moveit_config", "config/kinematics.yaml"
46-
)
47-
48-
# Planning Functionality
49-
ompl_planning_pipeline_config = {
50-
"move_group": {
51-
"planning_plugin": "ompl_interface/OMPLPlanner",
52-
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
53-
"start_state_max_bounds_error": 0.1,
54-
}
55-
}
56-
ompl_planning_yaml = load_yaml(
57-
"moveit_resources_panda_moveit_config", "config/ompl_planning.yaml"
7+
moveit_config = (
8+
MoveItConfigsBuilder("moveit_resources_panda")
9+
.robot_description(file_path="config/panda.urdf.xacro")
10+
.planning_pipelines(pipelines=["ompl"])
11+
.to_moveit_configs()
5812
)
59-
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
6013

6114
cartesian_task = Node(
6215
package="moveit_task_constructor_demo",
6316
executable="alternative_path_costs",
6417
output="screen",
6518
parameters=[
66-
robot_description,
67-
robot_description_semantic,
68-
kinematics_yaml,
69-
ompl_planning_pipeline_config,
19+
moveit_config.robot_description,
20+
moveit_config.robot_description_semantic,
21+
moveit_config.robot_description_kinematics,
22+
moveit_config.planning_pipelines,
7023
],
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)
7225

‎demo/launch/cartesian.launch.py‎

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@@ -1,55 +1,24 @@
1-
import os
2-
import yaml
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from launch import LaunchDescription
42
from launch_ros.actions import Node
5-
from ament_index_python.packages import get_package_share_directory
6-
7-
8-
def load_file(package_name, file_path):
9-
package_path = get_package_share_directory(package_name)
10-
absolute_file_path = os.path.join(package_path, file_path)
11-
12-
try:
13-
with open(absolute_file_path, "r") as file:
14-
return file.read()
15-
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
16-
return None
17-
18-
19-
def load_yaml(package_name, file_path):
20-
package_path = get_package_share_directory(package_name)
21-
absolute_file_path = os.path.join(package_path, file_path)
22-
23-
try:
24-
with open(absolute_file_path, "r") as file:
25-
return yaml.safe_load(file)
26-
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
27-
return None
3+
from moveit_configs_utils import MoveItConfigsBuilder
284

295

306
def generate_launch_description():
31-
# Get URDF and SRDF
32-
robot_description_config = load_file(
33-
"moveit_resources_panda_description", "urdf/panda.urdf"
34-
)
35-
robot_description = {"robot_description": robot_description_config}
36-
37-
robot_description_semantic_config = load_file(
38-
"moveit_resources_panda_moveit_config", "config/panda.srdf"
39-
)
40-
robot_description_semantic = {
41-
"robot_description_semantic": robot_description_semantic_config
42-
}
43-
44-
kinematics_yaml = load_yaml(
45-
"moveit_resources_panda_moveit_config", "config/kinematics.yaml"
7+
moveit_config = (
8+
MoveItConfigsBuilder("moveit_resources_panda")
9+
.robot_description(file_path="config/panda.urdf.xacro")
10+
.to_moveit_configs()
4611
)
4712

4813
cartesian_task = Node(
4914
package="moveit_task_constructor_demo",
5015
executable="cartesian",
5116
output="screen",
52-
parameters=[robot_description, robot_description_semantic, kinematics_yaml],
17+
parameters=[
18+
moveit_config.robot_description,
19+
moveit_config.robot_description_semantic,
20+
moveit_config.robot_description_kinematics,
21+
],
5322
)
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5524
return LaunchDescription([cartesian_task])

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