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[Fix] Cleanup Launch Files #982

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[Fix] Cleanup Launch Files #982

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22064ca
example 1 changes
Nov 24, 2025
f304d8a
clean example 2
Nov 24, 2025
49a9f8b
clean example 2 format
Nov 24, 2025
48c3341
clean example 3
Nov 24, 2025
fa2fb83
clean example 4
Nov 24, 2025
e04b4c5
clean example 5
Nov 24, 2025
d7157c9
clean example 6
Nov 25, 2025
c9a94fd
clean example 7
Nov 25, 2025
b69c1cd
clean example 8
Nov 25, 2025
ce220f2
clean example 9
Nov 25, 2025
e2a8674
clean example 10
Nov 25, 2025
dfea05a
clean example 11
Nov 25, 2025
de0e6fd
clean example 12
Nov 25, 2025
6d106b6
clean example 13
Nov 25, 2025
03b4fc4
clean example 14
Nov 25, 2025
0dbb55a
clean example 15
Nov 25, 2025
e237a14
clean example 16
Nov 26, 2025
0d99c60
fix xome pathjoinsub to pathsub
Nov 26, 2025
601a314
clean description launch files
Nov 26, 2025
4123422
launch chain at once
Dec 1, 2025
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16 changes: 6 additions & 10 deletions example_1/bringup/launch/test_forward_position_controller.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,28 +13,24 @@
# limitations under the License.

from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch.substitutions import PathSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():

position_goals = PathJoinSubstitution(
[
FindPackageShare("ros2_control_demo_example_1"),
"config",
"rrbot_forward_position_publisher.yaml",
]
)

return LaunchDescription(
[
Node(
package="ros2_controllers_test_nodes",
executable="publisher_forward_position_controller",
name="publisher_forward_position_controller",
parameters=[position_goals],
parameters=[
PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
/ "config"
/ "rrbot_forward_position_publisher.yaml"
],
output="both",
)
]
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16 changes: 6 additions & 10 deletions example_1/bringup/launch/test_joint_trajectory_controller.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,28 +13,24 @@
# limitations under the License.

from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch.substitutions import PathSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():

position_goals = PathJoinSubstitution(
[
FindPackageShare("ros2_control_demo_example_1"),
"config",
"rrbot_joint_trajectory_publisher.yaml",
]
)

return LaunchDescription(
[
Node(
package="ros2_controllers_test_nodes",
executable="publisher_joint_trajectory_controller",
name="publisher_joint_trajectory_controller",
parameters=[position_goals],
parameters=[
PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
/ "config"
/ "rrbot_joint_trajectory_publisher.yaml"
],
output="both",
)
]
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154 changes: 70 additions & 84 deletions example_1/description/launch/view_robot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,97 +15,83 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch.substitutions import Command, LaunchConfiguration, PathSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="ros2_control_demo_description",
description="Description package with robot URDF/xacro files. Usually the argument \
is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="rrbot.urdf.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gui",
default_value="true",
description="Start Rviz2 and Joint State Publisher gui automatically \
with this launch file.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"prefix",
default_value='""',
description="Prefix of the joint names, useful for \
multi-robot setup. If changed than also joint names in the controllers' configuration \
have to be updated.",
)
)

# Initialize Arguments
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
gui = LaunchConfiguration("gui")
prefix = LaunchConfiguration("prefix")

# Get URDF via xacro
robot_description_content = Command(
return LaunchDescription(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("ros2_control_demo_example_1"), "urdf", description_file]
DeclareLaunchArgument(
"description_package",
default_value="ros2_control_demo_description",
description=(
"Description package with robot URDF/xacro files. Usually the argument "
"is not set, it enables use of a custom description."
),
),
DeclareLaunchArgument(
"description_file",
default_value="rrbot.urdf.xacro",
description="URDF/XACRO description file with the robot.",
),
DeclareLaunchArgument(
"gui",
default_value="true",
description=(
"Start Rviz2 and Joint State Publisher gui automatically "
"with this launch file."
),
),
DeclareLaunchArgument(
"prefix",
default_value='""',
description=(
"Prefix of the joint names, useful for "
"multi-robot setup. If changed than also joint names in the controllers' configuration "
"have to be updated."
),
),
Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
condition=IfCondition(LaunchConfiguration("gui")),
),
Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[
{
"robot_description": Command(
[
"xacro",
" ",
PathSubstitution(FindPackageShare("ros2_control_demo_example_1"))
/ "urdf"
/ LaunchConfiguration("description_file"),
" ",
"prefix:=",
LaunchConfiguration("prefix"),
]
)
}
],
),
Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=[
"-d",
PathSubstitution(FindPackageShare(LaunchConfiguration("description_package")))
/ "rrbot/rviz"
/ "rrbot.rviz",
],
condition=IfCondition(LaunchConfiguration("gui")),
),
" ",
"prefix:=",
prefix,
]
)
robot_description = {"robot_description": robot_description_content}

rviz_config_file = PathJoinSubstitution(
[FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"]
)

joint_state_publisher_node = Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
condition=IfCondition(gui),
)
robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
condition=IfCondition(gui),
)

nodes = [
joint_state_publisher_node,
robot_state_publisher_node,
rviz_node,
]

return LaunchDescription(declared_arguments + nodes)
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