rviz_configの切替えの仕方を修正

rt-net · Dec 12, 2024 · 3fcac14 · 3fcac14
1 parent cad9fff
commit 3fcac14
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Showing 2 changed files with 30 additions and 49 deletions.
diff --git a/crane_plus_examples/launch/demo.launch.py b/crane_plus_examples/launch/demo.launch.py
@@ -43,39 +43,38 @@ def generate_launch_description():
         description='Set video device.'
     )
 
+    declare_rviz_config = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_plus_moveit_config'
+        ) + '/config/moveit.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=UnlessCondition(LaunchConfiguration('use_camera')),
+    )
+
+    declare_rviz_config_camera = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_plus_examples'
+        ) + '/launch/camera_example.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=IfCondition(LaunchConfiguration('use_camera')),
+    )
+
     description_loader = RobotDescriptionLoader()
     description_loader.port_name = LaunchConfiguration('port_name')
     description_loader.use_camera = LaunchConfiguration('use_camera')
     description = description_loader.load()
 
-    rviz_config_moveit = get_package_share_directory(
-        'crane_plus_moveit_config'
-        ) + '/config/moveit.rviz'
-    rviz_config_camera = get_package_share_directory(
-        'crane_plus_examples'
-        ) + '/launch/camera_example.rviz'
-
     move_group = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_plus_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            condition=UnlessCondition(LaunchConfiguration('use_camera')),
-            launch_arguments={
-                'loaded_description': description,
-                'rviz_config': rviz_config_moveit
-            }.items()
-        )
-
-    move_group_camera = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_plus_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            condition=IfCondition(LaunchConfiguration('use_camera')),
-            launch_arguments={
-                'loaded_description': description,
-                'rviz_config': rviz_config_camera
-            }.items()
-        )
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('crane_plus_moveit_config'),
+            '/launch/run_move_group.launch.py']),
+        launch_arguments={
+            'loaded_description': description,
+            'rviz_config': LaunchConfiguration('rviz_config')
+        }.items()
+    )
 
     control_node = IncludeLaunchDescription(
             PythonLaunchDescriptionSource([
@@ -102,8 +101,9 @@ def generate_launch_description():
         declare_port_name,
         declare_use_camera,
         declare_video_device,
+        declare_rviz_config,
+        declare_rviz_config_camera,
         move_group,
-        move_group_camera,
         control_node,
         usb_cam_node
     ])
diff --git a/crane_plus_moveit_config/launch/run_move_group.launch.py b/crane_plus_moveit_config/launch/run_move_group.launch.py
@@ -12,13 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_index_python.packages import get_package_share_directory
+
+# from ament_index_python.packages import get_package_share_directory
 from crane_plus_description.robot_description_loader \
     import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
 from moveit_configs_utils import MoveItConfigsBuilder
 from moveit_configs_utils.launches import generate_move_group_launch
 from moveit_configs_utils.launches import generate_moveit_rviz_launch
@@ -42,19 +42,6 @@ def generate_launch_description():
         )
     )
 
-    ld.add_action(
-        DeclareLaunchArgument(
-            'rviz_config',
-            default_value=get_package_share_directory(
-                'crane_plus_moveit_config'
-            )
-            + '/config/moveit.rviz',
-            description='Set the path to rviz configuration file.',
-        )
-    )
-
-    rviz_config = LaunchConfiguration('rviz_config')
-
     moveit_config = (
         MoveItConfigsBuilder('crane_plus')
         .planning_scene_monitor(
@@ -77,12 +64,6 @@ def generate_launch_description():
     ld.add_entity(generate_move_group_launch(moveit_config))
 
     # RViz
-    rviz_entities = generate_moveit_rviz_launch(moveit_config).entities
-    for entity in rviz_entities:
-        if isinstance(entity, Node):
-            entity.cmd.extend(['--ros-args', '--params-file', rviz_config])
-            ld.add_entity(entity)
-
     ld.add_entity(generate_moveit_rviz_launch(moveit_config))
 
     # Static TF