Implement generic, URI-based robot configuration system for URDF customization

.gitignore

@@ -30,3 +30,13 @@
 *.exe
 *.out
 *.app
+
+# Python
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+.Python
+*.egg-info/
+dist/
+build/

hunter_pltf_bringup/launch/hunter_pltf_bringup.launch.py

@@ -13,13 +13,15 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
 from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
 from ament_index_python.packages import get_package_share_directory
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 import os
+import sys
+from pathlib import Path
 
 def generate_launch_description():
 
@@ -33,6 +35,7 @@ def generate_launch_description():
     is_sim = LaunchConfiguration('is_sim' , default='false')
     enable_pd_regulator = LaunchConfiguration('enable_pd_regulator', default='False')
     use_sim_time = LaunchConfiguration('use_sim_time', default='False')
+    robot_id = LaunchConfiguration('robot_id', default='default')
 
     gui_declare = DeclareLaunchArgument(
             "gui", default_value=gui, description="Start RViz2 automatically with this launch file.")
@@ -50,24 +53,43 @@ def generate_launch_description():
     enable_pd_regulator_declare = DeclareLaunchArgument('enable_pd_regulator', default_value=enable_pd_regulator
         , description='Use PD regulator estimate residual control to the robot')
 
-    # Get URDF via xacro
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [FindPackageShare("hunter_pltf_description"), "description" ,"hunter_pltf.urdf.xacro"]
-            ),
-            " ",
-            "is_sim:=",
-             is_sim,
-             " ",
-            "prefix:=''",
-            " ",
-        ]
-    )
+    def generate_robot_description(context, *args, **kwargs):
+        """Generate robot description with robot-specific configuration."""
+        is_sim_val = LaunchConfiguration('is_sim').perform(context)
+        robot_id_val = LaunchConfiguration('robot_id').perform(context)
+
+        # Import config loader
+        config_dir = Path(get_package_share_directory('hunter_pltf_description')) / 'config' / 'robots'
+        sys.path.insert(0, str(config_dir))
+        from config_loader import load_robot_config, get_xacro_args, format_xacro_args
+
+        # Load robot configuration
+        is_sim_bool = is_sim_val.lower() == 'true'
+        config = load_robot_config(robot_id_val)
+        xacro_args = get_xacro_args(config, is_sim_bool)
+
+        # Build xacro command with all arguments
+        xacro_file = PathJoinSubstitution(
+            [FindPackageShare("hunter_pltf_description"), "description", "hunter_pltf.urdf.xacro"]
+        )
+
+        # Format all arguments
+        args_str = f"is_sim:={is_sim_val} prefix:='' {format_xacro_args(xacro_args)}"
+
+        robot_description_content = Command(
+            [
+                PathJoinSubstitution([FindExecutable(name="xacro")]),
+                " ",
+                xacro_file,
+                " ",
+                args_str,
+            ]
+        )
+
+        return robot_description_content
 
-    robot_description = {"robot_description": robot_description_content}
+    # Note: robot_description will be generated in the OpaqueFunction
+    # to allow runtime evaluation of robot_id
 
     robot_controllers = PathJoinSubstitution(
         [
@@ -79,31 +101,46 @@ def generate_launch_description():
 
     base_launch = os.path.join(get_package_share_directory("hunter_base"), "launch", "hunter_base.launch.py")
 
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output="both",
-    )
-
-    robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-    )
+    def launch_setup(context, *args, **kwargs):
+        """Setup launch nodes with robot configuration."""
+        robot_description_content = generate_robot_description(context)
+        robot_description = {"robot_description": robot_description_content}
+
+        control_node = Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            parameters=[robot_description, robot_controllers],
+            output="both",
+        )
+
+        robot_state_pub_node = Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            output="both",
+            parameters=[robot_description],
+        )
+
+        hunter_base_node = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(base_launch),
+                launch_arguments={
+                    'use_sim_time': use_sim_time,
+                    'kp_v': kp_v,
+                    'kd_v': kd_v,
+                    'kp_w': kp_w,
+                    'kd_w': kd_w,
+                    'enable_pd_regulator': enable_pd_regulator
+                    }.items(),
+        )
+
+        return [
+            robot_state_pub_node,
+            hunter_base_node,
+        ]
 
-    hunter_base_node = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(base_launch),
-            launch_arguments={
-                'use_sim_time': use_sim_time,
-                'kp_v': kp_v,
-                'kd_v': kd_v,
-                'kp_w': kp_w,
-                'kd_w': kd_w,
-                'enable_pd_regulator': enable_pd_regulator
-                }.items(),
-    )
+    robot_id_declare = DeclareLaunchArgument(
+            'robot_id', default_value='default',
+            description='Robot instance ID (e.g., hunter_01, hunter_02). Uses robot-specific \
+        configuration from config/robots/<robot_id>.yaml. Defaults to default.yaml.')
 
     # Create the launch description and populate
     ld = LaunchDescription()
@@ -117,8 +154,8 @@ def generate_launch_description():
     ld.add_action(kd_w_val_declare)
     ld.add_action(enable_pd_regulator_declare)
     ld.add_action(use_sim_time_declare)
+    ld.add_action(robot_id_declare)
 
-    ld.add_action(robot_state_pub_node)
-    ld.add_action(hunter_base_node)
+    ld.add_action(OpaqueFunction(function=launch_setup))
 
     return ld

hunter_pltf_description/CMakeLists.txt

@@ -24,7 +24,7 @@ if(BUILD_TESTING)
 endif()
 
 install(
-  DIRECTORY launch meshes description 
+  DIRECTORY launch meshes description config
   DESTINATION share/${PROJECT_NAME}
 )