add humble-navigation2
This commit is contained in:
X-lanni
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# Copyright (c) 2018 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, GroupAction,
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IncludeLaunchDescription, SetEnvironmentVariable)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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from launch_ros.actions import PushRosNamespace
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from launch_ros.descriptions import ParameterFile
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from nav2_common.launch import RewrittenYaml, ReplaceString
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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launch_dir = os.path.join(bringup_dir, 'launch')
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# Create the launch configuration variables
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_namespace')
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slam = LaunchConfiguration('slam')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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params_file = LaunchConfiguration('params_file')
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autostart = LaunchConfiguration('autostart')
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use_composition = LaunchConfiguration('use_composition')
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'),
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('/tf_static', 'tf_static')]
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'yaml_filename': map_yaml_file}
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# Only it applys when `use_namespace` is True.
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# '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
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# in config file 'nav2_multirobot_params.yaml' as a default & example.
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# User defined config file should contain '<robot_namespace>' keyword for the replacements.
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params_file = ReplaceString(
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source_file=params_file,
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replacements={'<robot_namespace>': ('/', namespace)},
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condition=IfCondition(use_namespace))
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configured_params = ParameterFile(
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RewrittenYaml(
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source_file=params_file,
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root_key=namespace,
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param_rewrites=param_substitutions,
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convert_types=True),
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allow_substs=True)
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_namespace_cmd = DeclareLaunchArgument(
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'use_namespace',
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default_value='false',
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description='Whether to apply a namespace to the navigation stack')
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declare_slam_cmd = DeclareLaunchArgument(
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'slam',
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default_value='False',
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description='Whether run a SLAM')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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description='Full path to map yaml file to load')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition', default_value='True',
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description='Whether to use composed bringup')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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# Specify the actions
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bringup_cmd_group = GroupAction([
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PushRosNamespace(
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condition=IfCondition(use_namespace),
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namespace=namespace),
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Node(
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condition=IfCondition(use_composition),
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name='nav2_container',
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package='rclcpp_components',
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executable='component_container_isolated',
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parameters=[configured_params, {'autostart': autostart}],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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output='screen'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
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condition=IfCondition(slam),
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launch_arguments={'namespace': namespace,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'use_respawn': use_respawn,
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'params_file': params_file}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir,
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'localization_launch.py')),
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condition=IfCondition(PythonExpression(['not ', slam])),
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launch_arguments={'namespace': namespace,
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'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'use_composition': use_composition,
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'use_respawn': use_respawn,
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'container_name': 'nav2_container'}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
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launch_arguments={'namespace': namespace,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'use_composition': use_composition,
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'use_respawn': use_respawn,
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'container_name': 'nav2_container'}.items()),
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])
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_use_namespace_cmd)
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ld.add_action(declare_slam_cmd)
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(bringup_cmd_group)
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return ld
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@@ -0,0 +1,174 @@
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# Copyright (c) 2023 LG Electronics.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction,
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IncludeLaunchDescription, LogInfo)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, TextSubstitution
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from nav2_common.launch import ParseMultiRobotPose
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def generate_launch_description():
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"""
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Bring up the multi-robots with given launch arguments.
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Launch arguments consist of robot name(which is namespace) and pose for initialization.
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Keep general yaml format for pose information.
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ex) robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
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ex) robots:="robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
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robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"
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"""
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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launch_dir = os.path.join(bringup_dir, 'launch')
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# Simulation settings
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world = LaunchConfiguration('world')
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simulator = LaunchConfiguration('simulator')
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# On this example all robots are launched with the same settings
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map_yaml_file = LaunchConfiguration('map')
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params_file = LaunchConfiguration('params_file')
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autostart = LaunchConfiguration('autostart')
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rviz_config_file = LaunchConfiguration('rviz_config')
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use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
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use_rviz = LaunchConfiguration('use_rviz')
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log_settings = LaunchConfiguration('log_settings', default='true')
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# Declare the launch arguments
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declare_world_cmd = DeclareLaunchArgument(
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'world',
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default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
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description='Full path to world file to load')
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declare_simulator_cmd = DeclareLaunchArgument(
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'simulator',
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default_value='gazebo',
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description='The simulator to use (gazebo or gzserver)')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
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description='Full path to map file to load')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='false',
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description='Automatically startup the stacks')
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declare_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config',
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default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
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description='Full path to the RVIZ config file to use.')
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declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
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'use_robot_state_pub',
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default_value='True',
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description='Whether to start the robot state publisher')
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declare_use_rviz_cmd = DeclareLaunchArgument(
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'use_rviz',
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default_value='True',
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description='Whether to start RVIZ')
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# Start Gazebo with plugin providing the robot spawning service
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start_gazebo_cmd = ExecuteProcess(
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cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
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'-s', 'libgazebo_ros_factory.so', world],
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output='screen')
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robots_list = ParseMultiRobotPose('robots').value()
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# Define commands for launching the navigation instances
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bringup_cmd_group = []
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for robot_name in robots_list:
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init_pose = robots_list[robot_name]
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group = GroupAction([
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LogInfo(msg=['Launching namespace=', robot_name, ' init_pose=', str(init_pose)]),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_dir, 'rviz_launch.py')),
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condition=IfCondition(use_rviz),
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launch_arguments={'namespace': TextSubstitution(text=robot_name),
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'use_namespace': 'True',
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'rviz_config': rviz_config_file}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(bringup_dir,
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'launch',
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'tb3_simulation_launch.py')),
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launch_arguments={'namespace': robot_name,
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'use_namespace': 'True',
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'map': map_yaml_file,
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'use_sim_time': 'True',
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'params_file': params_file,
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'autostart': autostart,
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'use_rviz': 'False',
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'use_simulator': 'False',
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'headless': 'False',
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'use_robot_state_pub': use_robot_state_pub,
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'x_pose': TextSubstitution(text=str(init_pose['x'])),
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'y_pose': TextSubstitution(text=str(init_pose['y'])),
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'z_pose': TextSubstitution(text=str(init_pose['z'])),
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'roll': TextSubstitution(text=str(init_pose['roll'])),
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'pitch': TextSubstitution(text=str(init_pose['pitch'])),
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'yaw': TextSubstitution(text=str(init_pose['yaw'])),
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'robot_name':TextSubstitution(text=robot_name), }.items())
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])
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bringup_cmd_group.append(group)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Declare the launch options
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ld.add_action(declare_simulator_cmd)
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ld.add_action(declare_world_cmd)
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_use_rviz_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_rviz_config_file_cmd)
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ld.add_action(declare_use_robot_state_pub_cmd)
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# Add the actions to start gazebo, robots and simulations
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ld.add_action(start_gazebo_cmd)
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ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
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ld.add_action(LogInfo(condition=IfCondition(log_settings),
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msg=['map yaml: ', map_yaml_file]))
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ld.add_action(LogInfo(condition=IfCondition(log_settings),
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msg=['params yaml: ', params_file]))
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ld.add_action(LogInfo(condition=IfCondition(log_settings),
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msg=['rviz config file: ', rviz_config_file]))
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ld.add_action(LogInfo(condition=IfCondition(log_settings),
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msg=['using robot state pub: ', use_robot_state_pub]))
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ld.add_action(LogInfo(condition=IfCondition(log_settings),
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msg=['autostart: ', autostart]))
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for cmd in bringup_cmd_group:
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ld.add_action(cmd)
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return ld
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@@ -0,0 +1,192 @@
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# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import LoadComposableNodes
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode, ParameterFile
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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namespace = LaunchConfiguration('namespace')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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autostart = LaunchConfiguration('autostart')
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params_file = LaunchConfiguration('params_file')
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use_composition = LaunchConfiguration('use_composition')
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container_name = LaunchConfiguration('container_name')
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container_name_full = (namespace, '/', container_name)
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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lifecycle_nodes = ['map_server', 'amcl']
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||||
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time,
|
||||
'yaml_filename': map_yaml_file}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True),
|
||||
allow_substs=True)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
'map',
|
||||
description='Full path to map yaml file to load')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='False',
|
||||
description='Use composed bringup if True')
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name', default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
Node(
|
||||
package='nav2_map_server',
|
||||
executable='map_server',
|
||||
name='map_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_amcl',
|
||||
executable='amcl',
|
||||
name='amcl',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_localization',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}])
|
||||
]
|
||||
)
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
condition=IfCondition(use_composition),
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_map_server',
|
||||
plugin='nav2_map_server::MapServer',
|
||||
name='map_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_amcl',
|
||||
plugin='nav2_amcl::AmclNode',
|
||||
name='amcl',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_localization',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
|
||||
# Add the actions to launch all of the localiztion nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,272 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
||||
from launch.conditions import IfCondition
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import LoadComposableNodes
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode, ParameterFile
|
||||
from nav2_common.launch import RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
container_name = LaunchConfiguration('container_name')
|
||||
container_name_full = (namespace, '/', container_name)
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
lifecycle_nodes = ['controller_server',
|
||||
'smoother_server',
|
||||
'planner_server',
|
||||
'behavior_server',
|
||||
'bt_navigator',
|
||||
'waypoint_follower',
|
||||
'velocity_smoother']
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True),
|
||||
allow_substs=True)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='False',
|
||||
description='Use composed bringup if True')
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name', default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
Node(
|
||||
package='nav2_controller',
|
||||
executable='controller_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
Node(
|
||||
package='nav2_smoother',
|
||||
executable='smoother_server',
|
||||
name='smoother_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_planner',
|
||||
executable='planner_server',
|
||||
name='planner_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_behaviors',
|
||||
executable='behavior_server',
|
||||
name='behavior_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_bt_navigator',
|
||||
executable='bt_navigator',
|
||||
name='bt_navigator',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_waypoint_follower',
|
||||
executable='waypoint_follower',
|
||||
name='waypoint_follower',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_velocity_smoother',
|
||||
executable='velocity_smoother',
|
||||
name='velocity_smoother',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_navigation',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}]),
|
||||
]
|
||||
)
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
condition=IfCondition(use_composition),
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_controller',
|
||||
plugin='nav2_controller::ControllerServer',
|
||||
name='controller_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
ComposableNode(
|
||||
package='nav2_smoother',
|
||||
plugin='nav2_smoother::SmootherServer',
|
||||
name='smoother_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_planner',
|
||||
plugin='nav2_planner::PlannerServer',
|
||||
name='planner_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_behaviors',
|
||||
plugin='behavior_server::BehaviorServer',
|
||||
name='behavior_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_bt_navigator',
|
||||
plugin='nav2_bt_navigator::BtNavigator',
|
||||
name='bt_navigator',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_waypoint_follower',
|
||||
plugin='nav2_waypoint_follower::WaypointFollower',
|
||||
name='waypoint_follower',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_velocity_smoother',
|
||||
plugin='nav2_velocity_smoother::VelocitySmoother',
|
||||
name='velocity_smoother',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_navigation',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,109 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.events import Shutdown
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
from nav2_common.launch import ReplaceString
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
# Create the launch configuration variables
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_namespace = LaunchConfiguration('use_namespace')
|
||||
rviz_config_file = LaunchConfiguration('rviz_config')
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='navigation',
|
||||
description=('Top-level namespace. The value will be used to replace the '
|
||||
'<robot_namespace> keyword on the rviz config file.'))
|
||||
|
||||
declare_use_namespace_cmd = DeclareLaunchArgument(
|
||||
'use_namespace',
|
||||
default_value='false',
|
||||
description='Whether to apply a namespace to the navigation stack')
|
||||
|
||||
declare_rviz_config_file_cmd = DeclareLaunchArgument(
|
||||
'rviz_config',
|
||||
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
|
||||
description='Full path to the RVIZ config file to use')
|
||||
|
||||
# Launch rviz
|
||||
start_rviz_cmd = Node(
|
||||
condition=UnlessCondition(use_namespace),
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
arguments=['-d', rviz_config_file],
|
||||
output='screen')
|
||||
|
||||
namespaced_rviz_config_file = ReplaceString(
|
||||
source_file=rviz_config_file,
|
||||
replacements={'<robot_namespace>': ('/', namespace)})
|
||||
|
||||
start_namespaced_rviz_cmd = Node(
|
||||
condition=IfCondition(use_namespace),
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
namespace=namespace,
|
||||
arguments=['-d', namespaced_rviz_config_file],
|
||||
output='screen',
|
||||
remappings=[('/map', 'map'),
|
||||
('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static'),
|
||||
('/goal_pose', 'goal_pose'),
|
||||
('/clicked_point', 'clicked_point'),
|
||||
('/initialpose', 'initialpose')])
|
||||
|
||||
exit_event_handler = RegisterEventHandler(
|
||||
condition=UnlessCondition(use_namespace),
|
||||
event_handler=OnProcessExit(
|
||||
target_action=start_rviz_cmd,
|
||||
on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
|
||||
|
||||
exit_event_handler_namespaced = RegisterEventHandler(
|
||||
condition=IfCondition(use_namespace),
|
||||
event_handler=OnProcessExit(
|
||||
target_action=start_namespaced_rviz_cmd,
|
||||
on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_namespace_cmd)
|
||||
ld.add_action(declare_rviz_config_file_cmd)
|
||||
|
||||
# Add any conditioned actions
|
||||
ld.add_action(start_rviz_cmd)
|
||||
ld.add_action(start_namespaced_rviz_cmd)
|
||||
|
||||
# Add other nodes and processes we need
|
||||
ld.add_action(exit_event_handler)
|
||||
ld.add_action(exit_event_handler_namespaced)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,142 @@
|
||||
# Copyright (c) 2020 Samsung Research Russia
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ParameterFile
|
||||
from nav2_common.launch import HasNodeParams, RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Input parameters declaration
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
# Variables
|
||||
lifecycle_nodes = ['map_saver']
|
||||
|
||||
# Getting directories and launch-files
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
slam_toolbox_dir = get_package_share_directory('slam_toolbox')
|
||||
slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py')
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True),
|
||||
allow_substs=True)
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='True',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='True',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
# Nodes launching commands
|
||||
|
||||
start_map_saver_server_cmd = Node(
|
||||
package='nav2_map_server',
|
||||
executable='map_saver_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[configured_params])
|
||||
|
||||
start_lifecycle_manager_cmd = Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_slam',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}])
|
||||
|
||||
# If the provided param file doesn't have slam_toolbox params, we must remove the 'params_file'
|
||||
# LaunchConfiguration, or it will be passed automatically to slam_toolbox and will not load
|
||||
# the default file
|
||||
has_slam_toolbox_params = HasNodeParams(source_file=params_file,
|
||||
node_name='slam_toolbox')
|
||||
|
||||
start_slam_toolbox_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(slam_launch_file),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items(),
|
||||
condition=UnlessCondition(has_slam_toolbox_params))
|
||||
|
||||
start_slam_toolbox_cmd_with_params = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(slam_launch_file),
|
||||
launch_arguments={'use_sim_time': use_sim_time,
|
||||
'slam_params_file': params_file}.items(),
|
||||
condition=IfCondition(has_slam_toolbox_params))
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
|
||||
# Running Map Saver Server
|
||||
ld.add_action(start_map_saver_server_cmd)
|
||||
ld.add_action(start_lifecycle_manager_cmd)
|
||||
|
||||
# Running SLAM Toolbox (Only one of them will be run)
|
||||
ld.add_action(start_slam_toolbox_cmd)
|
||||
ld.add_action(start_slam_toolbox_cmd_with_params)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,252 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
"""This is all-in-one launch script intended for use by nav2 developers."""
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
|
||||
from launch.conditions import IfCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
launch_dir = os.path.join(bringup_dir, 'launch')
|
||||
|
||||
# Create the launch configuration variables
|
||||
slam = LaunchConfiguration('slam')
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_namespace = LaunchConfiguration('use_namespace')
|
||||
map_yaml_file = LaunchConfiguration('map')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
|
||||
# Launch configuration variables specific to simulation
|
||||
rviz_config_file = LaunchConfiguration('rviz_config_file')
|
||||
use_simulator = LaunchConfiguration('use_simulator')
|
||||
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
|
||||
use_rviz = LaunchConfiguration('use_rviz')
|
||||
headless = LaunchConfiguration('headless')
|
||||
world = LaunchConfiguration('world')
|
||||
pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
|
||||
'y': LaunchConfiguration('y_pose', default='-0.50'),
|
||||
'z': LaunchConfiguration('z_pose', default='0.01'),
|
||||
'R': LaunchConfiguration('roll', default='0.00'),
|
||||
'P': LaunchConfiguration('pitch', default='0.00'),
|
||||
'Y': LaunchConfiguration('yaw', default='0.00')}
|
||||
robot_name = LaunchConfiguration('robot_name')
|
||||
robot_sdf = LaunchConfiguration('robot_sdf')
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_use_namespace_cmd = DeclareLaunchArgument(
|
||||
'use_namespace',
|
||||
default_value='false',
|
||||
description='Whether to apply a namespace to the navigation stack')
|
||||
|
||||
declare_slam_cmd = DeclareLaunchArgument(
|
||||
'slam',
|
||||
default_value='False',
|
||||
description='Whether run a SLAM')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
'map',
|
||||
default_value=os.path.join(
|
||||
bringup_dir, 'maps', 'turtlebot3_world.yaml'),
|
||||
description='Full path to map file to load')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='true',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='True',
|
||||
description='Whether to use composed bringup')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_rviz_config_file_cmd = DeclareLaunchArgument(
|
||||
'rviz_config_file',
|
||||
default_value=os.path.join(
|
||||
bringup_dir, 'rviz', 'nav2_default_view.rviz'),
|
||||
description='Full path to the RVIZ config file to use')
|
||||
|
||||
declare_use_simulator_cmd = DeclareLaunchArgument(
|
||||
'use_simulator',
|
||||
default_value='True',
|
||||
description='Whether to start the simulator')
|
||||
|
||||
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
|
||||
'use_robot_state_pub',
|
||||
default_value='True',
|
||||
description='Whether to start the robot state publisher')
|
||||
|
||||
declare_use_rviz_cmd = DeclareLaunchArgument(
|
||||
'use_rviz',
|
||||
default_value='True',
|
||||
description='Whether to start RVIZ')
|
||||
|
||||
declare_simulator_cmd = DeclareLaunchArgument(
|
||||
'headless',
|
||||
default_value='True',
|
||||
description='Whether to execute gzclient)')
|
||||
|
||||
declare_world_cmd = DeclareLaunchArgument(
|
||||
'world',
|
||||
# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
|
||||
# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
|
||||
# worlds/turtlebot3_worlds/waffle.model')
|
||||
default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
|
||||
description='Full path to world model file to load')
|
||||
|
||||
declare_robot_name_cmd = DeclareLaunchArgument(
|
||||
'robot_name',
|
||||
default_value='turtlebot3_waffle',
|
||||
description='name of the robot')
|
||||
|
||||
declare_robot_sdf_cmd = DeclareLaunchArgument(
|
||||
'robot_sdf',
|
||||
default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
|
||||
description='Full path to robot sdf file to spawn the robot in gazebo')
|
||||
|
||||
# Specify the actions
|
||||
start_gazebo_server_cmd = ExecuteProcess(
|
||||
condition=IfCondition(use_simulator),
|
||||
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
|
||||
'-s', 'libgazebo_ros_factory.so', world],
|
||||
cwd=[launch_dir], output='screen')
|
||||
|
||||
start_gazebo_client_cmd = ExecuteProcess(
|
||||
condition=IfCondition(PythonExpression(
|
||||
[use_simulator, ' and not ', headless])),
|
||||
cmd=['gzclient'],
|
||||
cwd=[launch_dir], output='screen')
|
||||
|
||||
urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
|
||||
with open(urdf, 'r') as infp:
|
||||
robot_description = infp.read()
|
||||
|
||||
start_robot_state_publisher_cmd = Node(
|
||||
condition=IfCondition(use_robot_state_pub),
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
namespace=namespace,
|
||||
output='screen',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'robot_description': robot_description}],
|
||||
remappings=remappings)
|
||||
|
||||
start_gazebo_spawner_cmd = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
output='screen',
|
||||
arguments=[
|
||||
'-entity', robot_name,
|
||||
'-file', robot_sdf,
|
||||
'-robot_namespace', namespace,
|
||||
'-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
|
||||
'-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']])
|
||||
|
||||
rviz_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_dir, 'rviz_launch.py')),
|
||||
condition=IfCondition(use_rviz),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'use_namespace': use_namespace,
|
||||
'rviz_config': rviz_config_file}.items())
|
||||
|
||||
bringup_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_dir, 'bringup_launch.py')),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'use_namespace': use_namespace,
|
||||
'slam': slam,
|
||||
'map': map_yaml_file,
|
||||
'use_sim_time': use_sim_time,
|
||||
'params_file': params_file,
|
||||
'autostart': autostart,
|
||||
'use_composition': use_composition,
|
||||
'use_respawn': use_respawn}.items())
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_namespace_cmd)
|
||||
ld.add_action(declare_slam_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
|
||||
ld.add_action(declare_rviz_config_file_cmd)
|
||||
ld.add_action(declare_use_simulator_cmd)
|
||||
ld.add_action(declare_use_robot_state_pub_cmd)
|
||||
ld.add_action(declare_use_rviz_cmd)
|
||||
ld.add_action(declare_simulator_cmd)
|
||||
ld.add_action(declare_world_cmd)
|
||||
ld.add_action(declare_robot_name_cmd)
|
||||
ld.add_action(declare_robot_sdf_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
|
||||
# Add any conditioned actions
|
||||
ld.add_action(start_gazebo_server_cmd)
|
||||
ld.add_action(start_gazebo_client_cmd)
|
||||
ld.add_action(start_gazebo_spawner_cmd)
|
||||
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(start_robot_state_publisher_cmd)
|
||||
ld.add_action(rviz_cmd)
|
||||
ld.add_action(bringup_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,190 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
"""
|
||||
Example for spawning multiple robots in Gazebo.
|
||||
|
||||
This is an example on how to create a launch file for spawning multiple robots into Gazebo
|
||||
and launch multiple instances of the navigation stack, each controlling one robot.
|
||||
The robots co-exist on a shared environment and are controlled by independent nav stacks.
|
||||
"""
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction,
|
||||
IncludeLaunchDescription, LogInfo)
|
||||
from launch.conditions import IfCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, TextSubstitution
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
launch_dir = os.path.join(bringup_dir, 'launch')
|
||||
|
||||
# Names and poses of the robots
|
||||
robots = [
|
||||
{'name': 'robot1', 'x_pose': 0.0, 'y_pose': 0.5, 'z_pose': 0.01,
|
||||
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0},
|
||||
{'name': 'robot2', 'x_pose': 0.0, 'y_pose': -0.5, 'z_pose': 0.01,
|
||||
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}]
|
||||
|
||||
# Simulation settings
|
||||
world = LaunchConfiguration('world')
|
||||
simulator = LaunchConfiguration('simulator')
|
||||
|
||||
# On this example all robots are launched with the same settings
|
||||
map_yaml_file = LaunchConfiguration('map')
|
||||
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
rviz_config_file = LaunchConfiguration('rviz_config')
|
||||
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
|
||||
use_rviz = LaunchConfiguration('use_rviz')
|
||||
log_settings = LaunchConfiguration('log_settings', default='true')
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_world_cmd = DeclareLaunchArgument(
|
||||
'world',
|
||||
default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
|
||||
description='Full path to world file to load')
|
||||
|
||||
declare_simulator_cmd = DeclareLaunchArgument(
|
||||
'simulator',
|
||||
default_value='gazebo',
|
||||
description='The simulator to use (gazebo or gzserver)')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
'map',
|
||||
default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
|
||||
description='Full path to map file to load')
|
||||
|
||||
declare_robot1_params_file_cmd = DeclareLaunchArgument(
|
||||
'robot1_params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for robot1 launched nodes')
|
||||
|
||||
declare_robot2_params_file_cmd = DeclareLaunchArgument(
|
||||
'robot2_params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for robot2 launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='false',
|
||||
description='Automatically startup the stacks')
|
||||
|
||||
declare_rviz_config_file_cmd = DeclareLaunchArgument(
|
||||
'rviz_config',
|
||||
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
|
||||
description='Full path to the RVIZ config file to use.')
|
||||
|
||||
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
|
||||
'use_robot_state_pub',
|
||||
default_value='True',
|
||||
description='Whether to start the robot state publisher')
|
||||
|
||||
declare_use_rviz_cmd = DeclareLaunchArgument(
|
||||
'use_rviz',
|
||||
default_value='True',
|
||||
description='Whether to start RVIZ')
|
||||
|
||||
# Start Gazebo with plugin providing the robot spawning service
|
||||
start_gazebo_cmd = ExecuteProcess(
|
||||
cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
|
||||
'-s', 'libgazebo_ros_factory.so', world],
|
||||
output='screen')
|
||||
|
||||
# Define commands for launching the navigation instances
|
||||
nav_instances_cmds = []
|
||||
for robot in robots:
|
||||
params_file = LaunchConfiguration(f"{robot['name']}_params_file")
|
||||
|
||||
group = GroupAction([
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_dir, 'rviz_launch.py')),
|
||||
condition=IfCondition(use_rviz),
|
||||
launch_arguments={
|
||||
'namespace': TextSubstitution(text=robot['name']),
|
||||
'use_namespace': 'True',
|
||||
'rviz_config': rviz_config_file}.items()),
|
||||
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(os.path.join(bringup_dir,
|
||||
'launch',
|
||||
'tb3_simulation_launch.py')),
|
||||
launch_arguments={'namespace': robot['name'],
|
||||
'use_namespace': 'True',
|
||||
'map': map_yaml_file,
|
||||
'use_sim_time': 'True',
|
||||
'params_file': params_file,
|
||||
'autostart': autostart,
|
||||
'use_rviz': 'False',
|
||||
'use_simulator': 'False',
|
||||
'headless': 'False',
|
||||
'use_robot_state_pub': use_robot_state_pub,
|
||||
'x_pose': TextSubstitution(text=str(robot['x_pose'])),
|
||||
'y_pose': TextSubstitution(text=str(robot['y_pose'])),
|
||||
'z_pose': TextSubstitution(text=str(robot['z_pose'])),
|
||||
'roll': TextSubstitution(text=str(robot['roll'])),
|
||||
'pitch': TextSubstitution(text=str(robot['pitch'])),
|
||||
'yaw': TextSubstitution(text=str(robot['yaw'])),
|
||||
'robot_name':TextSubstitution(text=robot['name']), }.items()),
|
||||
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=['Launching ', robot['name']]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' map yaml: ', map_yaml_file]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' params yaml: ', params_file]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' rviz config file: ', rviz_config_file]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' using robot state pub: ', use_robot_state_pub]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' autostart: ', autostart])
|
||||
])
|
||||
|
||||
nav_instances_cmds.append(group)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_simulator_cmd)
|
||||
ld.add_action(declare_world_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_robot1_params_file_cmd)
|
||||
ld.add_action(declare_robot2_params_file_cmd)
|
||||
ld.add_action(declare_use_rviz_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_rviz_config_file_cmd)
|
||||
ld.add_action(declare_use_robot_state_pub_cmd)
|
||||
|
||||
# Add the actions to start gazebo, robots and simulations
|
||||
ld.add_action(start_gazebo_cmd)
|
||||
|
||||
for simulation_instance_cmd in nav_instances_cmds:
|
||||
ld.add_action(simulation_instance_cmd)
|
||||
|
||||
return ld
|
||||
Reference in New Issue
Block a user