motion_stack.api.launch package
ROS2 launch api
Submodules
motion_stack.api.launch.builder module
API to generate launch files
- class motion_stack.api.launch.builder.LevelBuilder(leg_dict, urdf_path=None, params_overwrite={}, urdf=None)[source]
Bases:
objectBuilds a launcher for the motion stack generating your nodes
Note
This class is meant to be overloaded and changed for your robot. Refere to Launch API
- Parameters:
urdf_path (str | None) – Path of the urdf/xacro. A ROS2 Command will compile it and pass it as a string. See
api.launch.builder.xacro_path_from_pkg()to get a path.leg_dict (Mapping[int, str | int]) – Dictionary linking leg number to end effector name. This informs the API of the number of legs and nodes to launch.
params_overwrite (Dict[str, Any]) – Will overwrite the default parameters
urdf (None | str | Command) – Full urdf (or command to compile it). Use this instead of urdf_path to compile with options or more. see
api.launch.builder.xacro_path_from_pkg()andapi.launch.builder.command_from_xacro_path()
Example:
from motion_stack.api.launch.builder import LevelBuilder, xacro_path_from_pkg urdf_path = xacro_path_from_pkg( package_name="moonbot_zero_tuto", xacro_path="urdf/moonbot_zero.xacro" ) LEGS_DIC = { 1: "end1", 2: "end2", 3: "end3", 4: "end4", } new_params = { "std_movement_time": 10.0, } lvl_builder = MyLevelBuilder( urdf_path=urdf_path, leg_dict=LEGS_DIC, params_overwrite=new_params, ) def generate_launch_description(): return lvl_builder.make_description()
- OLD_PKG = 'easy_robot_control'
Type:
str
- MS_PACKAGE = 'motion_stack'
Type:
str
- make_description(levels=None)[source]
Return the launch description for ros2
Example:
def generate_launch_description(): return lvl_builder.make_description()
- Parameters:
levels (List[List[Node]] | None) – list of levels, levels being a list of nodes to be launched
- Returns:
launch description to launch all the nodes
- Return type:
LaunchDescription
- lvl_to_launch()[source]
- Returns:
List of int corresponding to the motion stack levels to start
- Return type:
List[int]
- generate_global_params()[source]
Generates parameters shared by all nodes. Based on the default params and overwrites.
- make_leg_param(leg_index, ee_name)[source]
Based on the leg index/number (and end-effector), returns the parameters corresponding to the leg
- Parameters:
leg_index (int) – leg number to create the params for
ee_name (None | str | int) – (Optional) end effector name or number
- Raises:
Exception – Exception(f”{leg_index} not in self.legs_dic”)
- Returns:
Dictionary of ROS2 parameters
- Return type:
Dict[str,Any]
- lvl1_params()[source]
Returns parameters for all lvl1 nodes to be launched
- Returns:
List of ros2 parameter dictionary, one per node.
- Return type:
List[Dict]
- lvl2_params()[source]
Returns parameters for all lvl2 nodes to be launched
- Returns:
List of ros2 parameter dictionary, one per node.
- Return type:
List[Dict]
- lvl3_params()[source]
Returns parameters for all lvl3 nodes to be launched
- Returns:
List of ros2 parameter dictionary, one per node.
- Return type:
List[Dict]
- lvl4_params()[source]
Returns parameters for all lvl4 nodes to be launched
- Returns:
List of ros2 parameter dictionary, one per node.
- Return type:
List[Dict]
- lvl5_params()[source]
Returns parameters for all lvl5 nodes to be launched
- Returns:
List of ros2 parameter dictionary, one per node.
- Return type:
List[Dict]
- state_publisher_lvl1()[source]
Prepares all nodes meant to publish the state of the robot to external tools.
- Along each lvl1 node, it creates:
One (customized) joint_state_publisher continuously publishing joint angles
One robot_state_publisher continuously publishing robot TF and description.
- Returns:
List of Nodes to be launched (empty if lvl1 is not to be launched)
- Return type:
List[Node]
- motion_stack.api.launch.builder.xacro_path_from_packer(robot_name)[source]
retieves the .urdf/.xacro path in the install share folder of urdf_packer.
- Parameters:
robot_name (str) – corresponds to <robot_name>.xacro
Returns:
- motion_stack.api.launch.builder.xacro_path_from_pkg(package_name, xacro_path, options=None)[source]
Gets a path from a package, adding options, in view of xacro compilation.
- Parameters:
package_name (str) – Name of the ros2 package
xacro_path (str) – Path of the file in the package’s shared directory
options (str | None) – string of options to append to the command
- Returns:
path as a string, appended by options
- motion_stack.api.launch.builder.command_from_xacro_path(path, options=None)[source]
Creates ROS2 command to compile xacro at launch time.
- Return type:
Command- Parameters:
path (str)
options (str | None)
- motion_stack.api.launch.builder.T = TypeVar(T)
Type:
TypeVarInvariant
TypeVar.
motion_stack.api.launch.default_params module
Provides and explains all parameters to launch the motion stack
- motion_stack.api.launch.default_params.default_params = {'WAIT_FOR_LOWER_LEVEL': True, 'add_joints': [''], 'always_write_position': False, 'control_rate': 30.0, 'end_effector_name': 0, 'ignore_limits': False, 'leg_list': [0], 'leg_number': 0, 'limit_margin': 0.0, 'mirror_angle': False, 'mvmt_update_rate': 20.0, 'number_of_legs': None, 'pure_topic_remap': False, 'robot_name': None, 'services_to_wait': [''], 'speed_mode': False, 'start_coord': [0.0, 0.0, 0.0], 'start_effector_name': '', 'std_movement_time': 2, 'urdf': None, 'urdf_path': '', 'wheel_size_mm': 230}
Type:
Dict[str,Any]the default parameters of the motion stack
1 default_params: Dict[str, Any] = { 2 # set these in your own launcher 3 # \ / # 4 # \/ # 5 "robot_name": None, #: (str) Name of the robot, not critical 6 "urdf": None, #: raw urdf string 7 "number_of_legs": None, # number of legs in your robot (not used by lvl 1-2-3) 8 "leg_number": 0, # number associated with a leg, 9 # if serveral lvl 1-2-3 are running, it is recommanded to use different numbers 10 "end_effector_name": 0, # end effector associated with a leg, (the most important) 11 # the kinematic chain used for IK will go 12 # from the root link of the URDF (usually base_link) 13 # to the end effector link (specified in this parameter). 14 # the URDF will be parsed to find this link name. Make sure it exists. 15 # you can also provide a number (as a string) instead of a link_name. If you do this 16 # the Nth longest kinematic path (sequence of link where each link is connected to 17 # exactly one other link) from the root of the URDF will be used for IK 18 # Basically, if you use only one limb, set this as "0", and it will pick the right ee. 19 "leg_list": [0], # list of leg numbers 20 # /\ # 21 # / \ # 22 # ---- # 23 "urdf_path": "", # path to the xacro or urdf to load 24 "std_movement_time": 2, # time lvl3 takes to execute a trajectory 25 "mvmt_update_rate": 10.0, # update rate used through out the stack 26 "control_rate": 30.0, # update rate for speed control PID only 27 "start_coord": [0 / 1000, 0 / 1000, 0 / 1000], # starting position 28 # (only affects rviz for now). 29 # if set to [np.nan,np.nan,np.nan], world->base_link publishing is disabled. 30 # lvl1 is publishing this TF, so if you have several lvl1, 31 # only one should have this opition enabled 32 "add_joints": [""], # manually adds joints for lvl1 if they are not in the urdf 33 "mirror_angle": False, # lvl1 assumes position sensor data is the last sent command 34 "always_write_position": False, # deprecated ? 35 "start_effector_name": "", # setting this manually, works with the motion stack, 36 # but not for Rviz and ros2's tf, so be carefull. 37 # In ros, the baselink must be the root of the tf tree, it cannot have a parent 38 # and there can only be one baselink. 39 # Leaving this empty and properly setting your URDF baselink is recommended. 40 "wheel_size_mm": 230, # deprecated ? 41 "pure_topic_remap": False, # activates the pure_remap.py remapping 42 "speed_mode": False, # lvl1 will send speed commands to the motors, using angle readings as feedback for a PID. 43 "services_to_wait": [""], # List of services to wait for before initializing 44 "WAIT_FOR_LOWER_LEVEL": True, # waits for services of lower level before initializing 45 "ignore_limits": False, # joint limits set in the URDF will be ignored 46 "limit_margin": 0.0, # adds a additional margin to the limits of the URDF (in rad) 47 }