add humble-navigation2
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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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