Feat: xarm_planner and gazebo support lite6

xarm_gazebo/launch/lite6_beside_table.launch

@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="run_demo" default="false" doc="If true, perform the demo after launch"/>
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
+  <arg name="effort_control" default="false"/>
+  <arg name="velocity_control" default="false"/>
+  <arg name="add_gripper" default="false" />
+  <arg name="add_vacuum_gripper" default="false" />
+  <arg name="namespace" default="xarm"/>
+
+  <arg name="xarm_velocity_control" value="$(eval arg('velocity_control') and not arg('run_demo'))" />
+
+  <rosparam file="$(find lite6_moveit_config)/config/lite6_params.yaml" command="load" ns="$(arg namespace)"/>
+  <rosparam if="$(arg add_gripper)" file="$(find xarm_controller)/config/gripper_gazebo_ros_control.yaml" command="load"/>
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find xarm_gazebo)/worlds/xarm_example1_table.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server, joint limit may be overwritten if use moveit planner -->
+  <param unless="$(eval arg('add_gripper') or arg('add_vacuum_gripper'))" name="robot_description"
+    command="$(find xacro)/xacro
+    --inorder '$(find xarm_description)/urdf/lite6_robot.urdf.xacro'
+    effort_control:=$(arg effort_control) velocity_control:=$(arg xarm_velocity_control)" />
+
+  <param if="$(arg add_gripper)" name="robot_description"
+    command="$(find xacro)/xacro
+    --inorder '$(find xarm_description)/urdf/lite6_with_gripper.xacro'
+    effort_control:=$(arg effort_control) velocity_control:=$(arg xarm_velocity_control)" />
+
+  <param if="$(arg add_vacuum_gripper)" name="robot_description"
+    command="$(find xacro)/xacro
+    --inorder '$(find xarm_description)/urdf/lite6_with_vacuum_gripper.xacro'
+    effort_control:=$(arg effort_control) velocity_control:=$(arg xarm_velocity_control)" />
+
+  <!-- spawn robot model in gazebo, located on the table -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
+    respawn="false" output="screen"
+    args="-urdf -model lite6 -x -0.2 -y -0.5 -z 1.021 -Y 1.571 -param robot_description"/>
+
+  <!-- load the corresponding controllers -->
+  <include file="$(find xarm_controller)/launch/lite6_control.launch">
+    <arg name="run_demo_traj" value="$(arg run_demo)"/>
+    <arg name="effort_control" value="$(arg effort_control)"/>
+    <arg name="velocity_control" value="$(arg xarm_velocity_control)"/>
+    <arg name="add_gripper" value="$(arg add_gripper)" />
+  </include>
+
+</launch>

xarm_planner/launch/moveit_real_arm_configurations.launch

@@ -5,9 +5,10 @@
   <arg name="show_rviz" default="true" />
   <arg name="no_gui_plan" default="true" />
   <arg name="report_type" default="normal" />
+  <arg name="robot_type" default="xarm" />
   <arg name="ext_ns" default="" />
 
-  <include file="$(eval find('xarm' + str(arg('arm_dof')) + arg('end_effector') + '_moveit_config') + '/launch/realMove_exec.launch')">
+  <include file="$(eval find(str(arg('robot_type')) + str(arg('arm_dof')) + arg('end_effector') + '_moveit_config') + '/launch/realMove_exec.launch')">
     <arg name="robot_ip" value="$(arg robot_ip)" />
     <!-- load the default move_group planner (not xarm_simple_planner) -->
     <arg name="show_rviz" value="$(arg show_rviz)" />

xarm_planner/launch/moveit_sim_configurations.launch

@@ -2,9 +2,10 @@
   <arg name="arm_dof" />
   <arg name="end_effector" default="" />
   <arg name="namespace" default="xarm"/>
+  <arg name="robot_type" default="xarm" />
 
-  <rosparam file="$(eval find('xarm' + str(arg('arm_dof')) + arg('end_effector') + '_moveit_config') + '/config/xarm' + str(arg('arm_dof')) + '_params.yaml')" command="load" ns="$(arg namespace)"/>
-  <include file="$(eval find('xarm' + str(arg('arm_dof')) + arg('end_effector') + '_moveit_config') + '/launch/moveit_rviz_common.launch')">
+  <rosparam file="$(eval find(str(arg('robot_type')) + str(arg('arm_dof')) + arg('end_effector') + '_moveit_config') + '/config/' + str(arg('robot_type')) + str(arg('arm_dof')) + '_params.yaml')" command="load" ns="$(arg namespace)"/>
+  <include file="$(eval find(str(arg('robot_type')) + str(arg('arm_dof')) + arg('end_effector') + '_moveit_config') + '/launch/moveit_rviz_common.launch')">
     <arg name="jnt_stat_source" value="[/move_group/fake_controller_joint_states]" />
     <!-- whether to use fake_execution controller to drive the motion -->
     <arg name="fake_execution" value="true" />

xarm_planner/launch/xarm_planner_realHW.launch

@@ -11,6 +11,7 @@
   <arg name="add_vacuum_gripper" default="false" />
   <arg name="report_type" default="normal" />
   <arg name="ext_ns" default="" />
+  <arg name="robot_type" default="xarm"/>
 
   <remap from="move_group/display_planned_path" to="$(arg ext_ns)/move_group/display_planned_path" />
   <include file="$(find xarm_planner)/launch/moveit_real_arm_configurations.launch">
@@ -20,6 +21,7 @@
     <arg name="end_effector" value="_vacuum_gripper" if="$(arg add_vacuum_gripper)" />
     <arg name="report_type" value="$(arg report_type)" />
     <arg name="ext_ns" value="$(arg ext_ns)" />
+    <arg name="robot_type" value="$(arg robot_type)" />
   </include>
 
   <remap from="DOF" to="$(arg ext_ns)/xarm/DOF" />

xarm_planner/launch/xarm_planner_rviz_sim.launch

@@ -3,12 +3,14 @@
   <arg name="add_gripper" default="false" />
   <arg name="add_vacuum_gripper" default="false" />
   <arg name="namespace" default="xarm"/>
+  <arg name="robot_type" default="xarm"/>
 
   <include file="$(find xarm_planner)/launch/moveit_sim_configurations.launch">
     <arg name="arm_dof" value="$(arg robot_dof)" />
     <arg name="end_effector" value="_gripper" if="$(arg add_gripper)" />
     <arg name="end_effector" value="_vacuum_gripper" if="$(arg add_vacuum_gripper)" />
     <arg name="namespace" value="$(arg namespace)" />
+    <arg name="robot_type" value="$(arg robot_type)" />
   </include>
 
   <remap from="/DOF" to="/xarm/DOF" />