Feature: MoveIt Parameters and Enable (#166) (#189)

Author: luis-camero

clearpath_generator_common/clearpath_generator_common/launch/generator.py

@@ -95,7 +95,8 @@ def __init__(self,
             args=[
                 ('setup_path', self.setup_path),
                 ('use_sim_time', 'false'),
-                ('namespace', self.namespace)
+                ('namespace', self.namespace),
+                ('launch_moveit', str(self.clearpath_config.manipulators.moveit.enable).lower()),
             ]
         )
 

clearpath_generator_common/clearpath_generator_common/param/manipulators.py

@@ -178,11 +178,11 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
 
             self.param_file.add_node_header()
 
-            # Get extra ros parameters from config
-            extras = self.clearpath_config.platform.extras.ros_parameters
-            for node in extras:
+            # Get MoveIt ros parameters from config
+            moveit_params = self.clearpath_config.manipulators.moveit.ros_parameters
+            for node in moveit_params:
                 if node in self.param_file.parameters:
-                    self.param_file.update({node: extras.get(node)})
+                    self.param_file.update({node: moveit_params.get(node)})
 
             if use_sim_time:
                 for node in self.param_file.parameters:

clearpath_manipulators/launch/manipulators.launch.py

@@ -38,6 +38,7 @@
     IncludeLaunchDescription,
     TimerAction
 )
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import (
     LaunchConfiguration,
@@ -72,10 +73,18 @@ def generate_launch_description():
         description='Robot namespace'
     )
 
+    arg_launch_moveit = DeclareLaunchArgument(
+        'launch_moveit',
+        choices=['true', 'false'],
+        default_value='false',
+        description='Launch MoveIt'
+    )
+
     # Launch Configurations
     setup_path = LaunchConfiguration('setup_path')
     use_sim_time = LaunchConfiguration('use_sim_time')
     namespace = LaunchConfiguration('namespace')
+    launch_moveit = LaunchConfiguration('launch_moveit')
 
     # Launch files
     launch_file_manipulators_description = PathJoinSubstitution([
@@ -123,7 +132,8 @@ def generate_launch_description():
         launch_arguments=[
             ('setup_path', setup_path),
             ('use_sim_time', use_sim_time)
-        ]
+        ],
+        condition=IfCondition(launch_moveit)
     )
 
     moveit_delayed = TimerAction(
@@ -135,6 +145,7 @@ def generate_launch_description():
     ld.add_action(arg_setup_path)
     ld.add_action(arg_use_sim_time)
     ld.add_action(arg_namespace)
+    ld.add_action(arg_launch_moveit)
     ld.add_action(group_manipulators_action)
     ld.add_action(moveit_delayed)
     return ld