Launch Files

The Stonedrum Robotics ROS 2 package provides standard Python-based launch files to initialize the system quickly. These launch files manage node lifecycle, load parameters, and can map topics as necessary.

Available Launch Files

hand.launch.py

The primary launch file for bringing up the dexterous hand. It starts the HandNode and optionally starts the GraspActionServer and TeleoperationNode based on arguments.

Arguments: - mock (default: true): If true, the HandNode initializes the software mock driver (Hand.mock()). If false, it connects to physical hardware. - use_teleop (default: false): If true, launches the TeleoperationNode with a default keyboard layout. - start_action_server (default: true): If true, launches the GraspActionServer to handle high-level named grasps.

Code Example

To launch the system in simulation/mock mode with the grasp action server running, use the following terminal command:

ros2 launch dexterous_hand_ros2 hand.launch.py mock:=true start_action_server:=true

To include this launch file inside a larger system launch (like an arm + hand setup), you can use the ROS 2 Python launch API:

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    hand_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([
            PathJoinSubstitution([
                FindPackageShare('dexterous_hand_ros2'),
                'launch',
                'hand.launch.py'
            ])
        ]),
        launch_arguments={
            'mock': 'false',
            'use_teleop': 'false'
        }.items()
    )

    return LaunchDescription([
        hand_launch
    ])

For advanced configurations, contact us at info@stonedrum.co.