Fix dismatch robots in launchers

Author: Jepear19

Launchers/pick_place_harmonic/pick_place_harmonic.launch.py

@@ -5,7 +5,6 @@
 """
 
 import os
-import xacro
 import yaml
 
 from launch import LaunchDescription
@@ -45,23 +44,6 @@ def generate_launch_description():
         )
     )
 
-
-    xacro_file = os.path.join(
-        get_package_share_directory("ros2srrc_ur5_gazebo"),
-        "urdf",
-        "ur5_robotiq_2f85.urdf.xacro"
-    )
-
-    doc = xacro.parse(open(xacro_file))
-    xacro.process_doc(doc, mappings={
-        "EE": "true",
-        "EE_name": "robotiq_2f85"
-    })
-
-    robot_description = {
-        "robot_description": doc.toxml()
-    }
-
     robot_description_semantic = {
         "robot_description_semantic": load_file(
             "ros2srrc_ur5_moveit2",
@@ -105,13 +87,11 @@ def generate_launch_description():
         "publish_transforms_updates": True,
     }
 
-
     move_group_node = Node(
         package="moveit_ros_move_group",
         executable="move_group",
         output="screen",
         parameters=[
-            robot_description,
             robot_description_semantic,
             kinematics_yaml,
             joint_limits,
@@ -122,13 +102,11 @@ def generate_launch_description():
         ],
     )
 
-
     robmove_node = Node(
         package="ros2srrc_execution",
         executable="robmove",
         output="screen",
         parameters=[
-            robot_description,
             robot_description_semantic,
             kinematics_yaml,
             {"use_sim_time": True},
@@ -141,7 +119,6 @@ def generate_launch_description():
         executable="robpose",
         output="screen",
         parameters=[
-            robot_description,
             robot_description_semantic,
             kinematics_yaml,
             {"use_sim_time": True},
@@ -154,7 +131,6 @@ def generate_launch_description():
         executable="move",
         output="screen",
         parameters=[
-            robot_description,
             robot_description_semantic,
             kinematics_yaml,
             {"use_sim_time": True},

Launchers/pick_place_harmonic/robot.launch.py

@@ -1,9 +1,12 @@
+#!/usr/bin/env python3
+
 """
 Pick Place Harmonic - Robot Launcher
 Wraps spawn_robot_warehouse.launch.py
 """
 
 import os
+
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -12,24 +15,15 @@
 
 def generate_launch_description():
 
-    try:
-        ur5_gripper_pkg = get_package_share_directory("ur5_gripper_description")
-    except Exception as e:
-        print(f"ERROR: Cannot find ur5_gripper_description package: {e}")
-        print("Make sure packages are built in /home/ws")
-        raise
-
-    warehouse_launch_file = os.path.join(
-        ur5_gripper_pkg, "launch", "spawn_robot_warehouse.launch.py"
-    )
-
-    print(f"Including launch file: {warehouse_launch_file}")
+    pkg = get_package_share_directory("ros2srrc_ur5_gazebo")
 
-    warehouse_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(warehouse_launch_file),
-        launch_arguments={
-            "launch_rviz": "false",
-        }.items(),
-    )
+    launch_file = os.path.join(pkg, "launch", "ur5.launch.py")
 
-    return LaunchDescription([warehouse_launch])
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_file),
+            launch_arguments={
+                "rviz": "false"
+            }.items(),
+        )
+    ])