moveit_controller.launch.py

import os
import yaml
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import xacro
from launch.actions import RegisterEventHandler, Shutdown
from launch.event_handlers import OnProcessExit


def load_file(package_name, file_path):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, 'r') as file:
            return file.read()
    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
        return None


def load_yaml(package_name, file_path):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, 'r') as file:
            return yaml.safe_load(file)
    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
        return None


def generate_launch_description():

    # planning_context
    robot_description_config = xacro.process_file(
        os.path.join(
            get_package_share_directory("simple_arm"),
            "urdf",
            "panda.urdf.xacro",
        )
    )
    robot_description = {"robot_description": robot_description_config.toxml()}

    robot_description_semantic_config = load_file(
        "simple_arm", "config/panda.srdf"
    )
    robot_description_semantic = {
        "robot_description_semantic": robot_description_semantic_config
    }

    kinematics_yaml = load_yaml(
        "moveit_resources_panda_moveit_config", "config/kinematics.yaml"
    )
    # MoveGroupInterface demo executable
    moveit_controller = Node(name='moveit_controller',
                               package='simple_arm_control',
                               executable='moveit_controller',
                               output='screen',
                               parameters=[robot_description,
                                           robot_description_semantic,
                                           kinematics_yaml,
                                           {"height": 5, "columns" : 3},
                                           ],
                            #   prefix=['gdbserver localhost:3000']
                            )
    
    return LaunchDescription([moveit_controller])