Merge pull request #347 from lbr-stack/backport-346-to-jazzy

Resolve backport (#346)

Author: mhubii

lbr_bringup/doc/lbr_bringup.rst

@@ -12,11 +12,13 @@ The ``lbr_bringup`` package hosts some launch files, which can be included via s
 
     def generate_launch_description() -> LaunchDescription:
         return LaunchDescription(
-            IncludeLaunchDescription(
-                PathSubstitution(
-                    FindPackageShare("lbr_bringup") / "launch" / "mock.launch.py"
+            [
+                IncludeLaunchDescription(
+                    PathSubstitution(
+                        FindPackageShare("lbr_bringup") / "launch" / "mock.launch.py"
+                    )
                 )
-            )
+            ]
         )
 
 The launch files can also be run via the command line, as further described below.
@@ -134,25 +136,6 @@ Please note that MoveIt configurations are specific and you as a user will need
 .. note::
     Runs ``RViz`` with specific MoveIt configurations.
 
-Mixins
-------
-The ``lbr_bringup`` package makes heavy use of mixins. Mixins are simply state-free classes with static methods. They are a convenient way of writing launch files.
-
-The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_bringup/launch/rviz.launch.py>`_:octicon:`link-external` file:
-
-.. code:: python
-
-    from launch import LaunchDescription
-    from lbr_bringup.rviz import RVizMixin
-
-
-    def generate_launch_description() -> LaunchDescription:
-        return LaunchDescription(
-            [RVizMixin.arg_rviz_cfg(), RVizMixin.arg_rviz_cfg_pkg(), RVizMixin.node_rviz()]
-        )
-
-Which is quite compact and easy to read.
-
 General Information on the FRI
 ------------------------------
 The ``FRI`` lets the user select a ``FRI control mode`` and a ``FRI client command mode``. When running the ``LBRServer``:

lbr_bringup/launch/gazebo.launch.py

@@ -22,7 +22,12 @@ def generate_launch_description() -> LaunchDescription:
             DeclareLaunchArgument(
                 name="robot_name",
                 default_value="lbr",
-                description="The robot's name.",
+                description="The robot's name. Links in the tf tree will be prefixed as <robot_name>_link. Same applies to joints.",
+            ),
+            DeclareLaunchArgument(
+                name="namespace",
+                default_value="lbr",
+                description="Nodes in this launch file will be spawned with this namespace.",
             ),
             DeclareLaunchArgument(
                 name="init_jnt_pos_pkg",
@@ -43,11 +48,6 @@ def generate_launch_description() -> LaunchDescription:
                     "joint_trajectory_controller",
                 ],
             ),
-            DeclareLaunchArgument(
-                name="namespace",
-                default_value="lbr",
-                description="The namespace of the robot.",
-            ),
             Node(
                 package="robot_state_publisher",
                 executable="robot_state_publisher",

lbr_bringup/launch/hardware.launch.py

@@ -22,7 +22,12 @@ def generate_launch_description() -> LaunchDescription:
             DeclareLaunchArgument(
                 name="robot_name",
                 default_value="lbr",
-                description="The robot's name.",
+                description="The robot's name. Links in the tf tree will be prefixed as <robot_name>_link. Same applies to joints.",
+            ),
+            DeclareLaunchArgument(
+                name="namespace",
+                default_value="lbr",
+                description="Nodes in this launch file will be spawned with this namespace.",
             ),
             DeclareLaunchArgument(
                 name="sys_cfg_pkg",
@@ -58,11 +63,6 @@ def generate_launch_description() -> LaunchDescription:
                     "twist_controller",
                 ],
             ),
-            DeclareLaunchArgument(
-                name="namespace",
-                default_value="lbr",
-                description="The namespace of the robot.",
-            ),
             Node(
                 package="robot_state_publisher",
                 executable="robot_state_publisher",
@@ -104,9 +104,6 @@ def generate_launch_description() -> LaunchDescription:
                     / LaunchConfiguration("ctrl_cfg"),
                 ],
                 namespace=LaunchConfiguration("namespace"),
-                remappings=[
-                    ("~/robot_description", "robot_description"),
-                ],
             ),
             Node(
                 package="controller_manager",

lbr_bringup/launch/mock.launch.py

@@ -22,7 +22,12 @@ def generate_launch_description() -> LaunchDescription:
             DeclareLaunchArgument(
                 name="robot_name",
                 default_value="lbr",
-                description="The robot's name.",
+                description="The robot's name. Links in the tf tree will be prefixed as <robot_name>_link. Same applies to joints.",
+            ),
+            DeclareLaunchArgument(
+                name="namespace",
+                default_value="lbr",
+                description="Nodes in this launch file will be spawned with this namespace.",
             ),
             DeclareLaunchArgument(
                 name="ctrl_cfg_pkg",
@@ -48,11 +53,6 @@ def generate_launch_description() -> LaunchDescription:
                 default_value="lbr_description",
                 description="Package containing the initial_joint_positions.yaml file.",
             ),
-            DeclareLaunchArgument(
-                name="namespace",
-                default_value="lbr",
-                description="The namespace of the robot.",
-            ),
             DeclareLaunchArgument(
                 name="init_jnt_pos",
                 default_value="ros2_control/initial_joint_positions.yaml",
@@ -103,9 +103,6 @@ def generate_launch_description() -> LaunchDescription:
                     / LaunchConfiguration("ctrl_cfg"),
                 ],
                 namespace=LaunchConfiguration("namespace"),
-                remappings=[
-                    ("~/robot_description", "robot_description"),
-                ],
             ),
             Node(
                 package="controller_manager",