add agv_pro_navigation2/

2025-06-14 17:10:44 +08:00
parent d0688eb122
commit d15628121a
7 changed files with 1050 additions and 0 deletions
@@ -0,0 +1,63 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+    use_rviz = LaunchConfiguration('use_rviz', default='true')
+    map_dir = LaunchConfiguration(
+        'map',
+        default=os.path.join(
+            get_package_share_directory('agvpro_navigation2'),
+            'map',
+            'map.yaml'))
+
+    param_file_name = 'agvpro.yaml'
+    param_dir = LaunchConfiguration(
+        'params_file',
+        default=os.path.join(
+            get_package_share_directory('agvpro_navigation2'),
+            'param',
+            param_file_name))
+
+    nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
+
+    rviz_config_dir = os.path.join(
+        get_package_share_directory('agvpro_navigation2'),
+        'rviz',
+        'agvpro_navigation2.rviz')
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'map',
+            default_value=map_dir,
+            description='Full path to map file to load'),
+    
+        DeclareLaunchArgument(
+            'params_file',
+            default_value=param_dir,
+            description='Full path to param file to load'),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
+            launch_arguments={
+                'map': map_dir,
+                'params_file': param_dir}.items(),
+        ),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config_dir],
+            parameters=[{'use_sim_time': use_sim_time}],
+            condition=IfCondition(use_rviz),
+            output='screen'),
+    ])