Work in progress: this documentation is still being written and reviewed. Check details against the source code.

LiX robot and MoveIt launch

LiX UR5e/Hand-E launch with OMPL and Pilz pipelines, RViz, controller overlay and a delayed hard-coded payload service call. No configurable gripper, camera or tool-exchange branch.

src.custom-ur-descriptions.lix_moveit_config.launch.robot_bringup.launch · Source

Setup and deployment · Guide · Symbol index

How it is used

This deployment launch combines the LiX UR5e/Hand-E model, UR driver, MoveIt, and RViz. ROS launch reads the argument declarations and then calls launch_setup() to resolve the model and processes.

The configuration is specific to Hand-E and includes a delayed payload service call. It does not provide the CMS tool-selection or camera branches.

Start here

Callable

Purpose

generate_launch_description

Declare LiX robot connection/model/mock/prefix options and defer setup through OpaqueFunction.

launch_setup

Resolve robot arguments and build the UR driver, Hand-E MoveIt model, move_group, RViz and gripper controller. Schedule a five-second payload call for 0.925 kg with center of gravity (0,0,0.058) m.

Functions

generate_launch_description()

Declare LiX robot connection/model/mock/prefix options and defer setup through OpaqueFunction.

Entry point · Source

generate_launch_description()

Returns: LaunchDescription with robot_ip=192.168.1.101, ur_type=ur5e, use_mock_hardware=false, tf_prefix=”” and the setup callback.

Errors: Launch construction errors propagate; most input/package validation occurs during setup/runtime.

Side effects: Creates launch objects whose execution can connect hardware and set payload.

launch_setup()

Resolve robot arguments and build the UR driver, Hand-E MoveIt model, move_group, RViz and gripper controller. Schedule a five-second payload call for 0.925 kg with center of gravity (0,0,0.058) m.

Callback · Source

launch_setup(context, *args, **kwargs)

Parameter

Meaning

context

LaunchContext supplying robot_ip, ur_type, use_mock_hardware and tf_prefix.

args

Additional positional OpaqueFunction arguments; unused.

kwargs

Additional keyword arguments; unused.

Returns: List of five actions: UR launch include, move_group, RViz, payload timer and gripper spawner.

Errors: Package/config/xacro/MoveIt builder errors propagate. Unlike CMS, its planning xacro mappings do not explicitly include kinematics_params even though the UR driver receives calibration. Payload readiness is time-based and the call is not suppressed in mock mode.

Side effects: Reads/builds config; executing starts robot/Hand-E control and visualization and issues the payload-setting service command.

Referenced in source (1)