From 2a066ab48e7e5450a1feb5e026966b75ec65fe1d Mon Sep 17 00:00:00 2001
From: clhchan <clh.but@qq.com>
Date: Mon, 1 Jun 2026 10:44:38 +0800
Subject: [PATCH] chore(agv_pro_navigation2): clean nav launch and example
 script

---
 .../launch/navigation2_active.launch.py       | 24 ++++---------------
 .../scripts/example_nav_to_pose.py            | 16 +++----------
 2 files changed, 8 insertions(+), 32 deletions(-)

diff --git a/agv_pro_navigation2/launch/navigation2_active.launch.py b/agv_pro_navigation2/launch/navigation2_active.launch.py
index c5a651a..0b62623 100644
--- a/agv_pro_navigation2/launch/navigation2_active.launch.py
+++ b/agv_pro_navigation2/launch/navigation2_active.launch.py
@@ -3,11 +3,7 @@ import os
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    GroupAction,
-    IncludeLaunchDescription,
-)
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
@@ -19,26 +15,16 @@ def generate_launch_description():
     use_rviz = LaunchConfiguration('use_rviz', default='true')
     map_dir = LaunchConfiguration(
         'map',
-        default=os.path.join(
-            get_package_share_directory('agv_pro_navigation2'),
-            'map',
-            'map.yaml'))
+        default=os.path.join(get_package_share_directory('agv_pro_navigation2'), 'map', 'map.yaml'))
 
     param_file_name = 'agvpro.yaml'
     param_dir = LaunchConfiguration(
         'params_file',
-        default=os.path.join(
-            get_package_share_directory('agv_pro_navigation2'),
-            'param',
-            param_file_name))
+        default=os.path.join(get_package_share_directory('agv_pro_navigation2'), 'param', param_file_name))
 
-    nav2_launch_file_dir = os.path.join(
-        get_package_share_directory('nav2_bringup'), 'launch')
+    nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
 
-    rviz_config_dir = os.path.join(
-        get_package_share_directory('agv_pro_navigation2'),
-        'rviz',
-        'agvpro_navigation2.rviz')
+    rviz_config_dir = os.path.join(get_package_share_directory('agv_pro_navigation2'), 'rviz', 'agvpro_navigation2.rviz')
 
     return LaunchDescription([
         DeclareLaunchArgument(
diff --git a/agv_pro_navigation2/scripts/example_nav_to_pose.py b/agv_pro_navigation2/scripts/example_nav_to_pose.py
index 938bff6..d31a242 100644
--- a/agv_pro_navigation2/scripts/example_nav_to_pose.py
+++ b/agv_pro_navigation2/scripts/example_nav_to_pose.py
@@ -16,11 +16,6 @@ Basic navigation demo to go to pose.
 
 def parse_arguments():
     parser = argparse.ArgumentParser(description='Send navigation test goals.')
-    parser.add_argument(
-        '--localization',
-        choices=('amcl', 'slam'),
-        default='amcl',
-        help='Localization backend started by navigation2_active.launch.py.')
     parser.add_argument(
         'targets',
         nargs='*',
@@ -99,14 +94,9 @@ if __name__ == '__main__':
     rclpy.init()
     navigator = BasicNavigator()
 
-    if cli_args.localization == 'slam':
-        # slam_toolbox on Humble is not a Nav2 lifecycle-managed localizer.
-        navigator._waitForNodeToActivate('bt_navigator')
-        navigator.info('Nav2 is ready for use!')
-    else:
-        # AMCL obtains its initial origin pose from agvpro.yaml.
-        navigator.initial_pose_received = True
-        navigator.waitUntilNav2Active()
+    # AMCL obtains its initial origin pose from agvpro.yaml.
+    navigator.initial_pose_received = True
+    navigator.waitUntilNav2Active()
 
     # Try to load waypoints from YAML, fallback to hardcoded defaults
     waypoints = {}