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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"""This is all-in-one launch script intended for use by nav2 developers."""
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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, IncludeLaunchDescription
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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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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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slam = LaunchConfiguration('slam')
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_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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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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# Launch configuration variables specific to simulation
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rviz_config_file = LaunchConfiguration('rviz_config_file')
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use_simulator = LaunchConfiguration('use_simulator')
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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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headless = LaunchConfiguration('headless')
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world = LaunchConfiguration('world')
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pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
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'y': LaunchConfiguration('y_pose', default='-0.50'),
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'z': LaunchConfiguration('z_pose', default='0.01'),
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'R': LaunchConfiguration('roll', default='0.00'),
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'P': LaunchConfiguration('pitch', default='0.00'),
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'Y': LaunchConfiguration('yaw', default='0.00')}
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robot_name = LaunchConfiguration('robot_name')
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robot_sdf = LaunchConfiguration('robot_sdf')
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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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# Declare the launch arguments
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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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default_value=os.path.join(
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bringup_dir, 'maps', 'turtlebot3_world.yaml'),
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description='Full path to map 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='true',
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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_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config_file',
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default_value=os.path.join(
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bringup_dir, 'rviz', 'nav2_default_view.rviz'),
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description='Full path to the RVIZ config file to use')
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declare_use_simulator_cmd = DeclareLaunchArgument(
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'use_simulator',
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default_value='True',
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description='Whether to start the simulator')
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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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declare_simulator_cmd = DeclareLaunchArgument(
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'headless',
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default_value='True',
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description='Whether to execute gzclient)')
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declare_world_cmd = DeclareLaunchArgument(
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'world',
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# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
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# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
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# worlds/turtlebot3_worlds/waffle.model')
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default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
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description='Full path to world model file to load')
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declare_robot_name_cmd = DeclareLaunchArgument(
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'robot_name',
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default_value='turtlebot3_waffle',
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description='name of the robot')
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declare_robot_sdf_cmd = DeclareLaunchArgument(
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'robot_sdf',
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default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
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description='Full path to robot sdf file to spawn the robot in gazebo')
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# Specify the actions
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start_gazebo_server_cmd = ExecuteProcess(
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condition=IfCondition(use_simulator),
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cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
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'-s', 'libgazebo_ros_factory.so', world],
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cwd=[launch_dir], output='screen')
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start_gazebo_client_cmd = ExecuteProcess(
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condition=IfCondition(PythonExpression(
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[use_simulator, ' and not ', headless])),
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cmd=['gzclient'],
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cwd=[launch_dir], output='screen')
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urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
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with open(urdf, 'r') as infp:
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robot_description = infp.read()
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start_robot_state_publisher_cmd = Node(
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condition=IfCondition(use_robot_state_pub),
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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namespace=namespace,
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output='screen',
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parameters=[{'use_sim_time': use_sim_time,
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'robot_description': robot_description}],
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remappings=remappings)
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start_gazebo_spawner_cmd = Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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output='screen',
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arguments=[
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'-entity', robot_name,
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'-file', robot_sdf,
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'-robot_namespace', namespace,
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'-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
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'-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']])
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rviz_cmd = 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': namespace,
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'use_namespace': use_namespace,
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'rviz_config': rviz_config_file}.items())
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bringup_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_dir, 'bringup_launch.py')),
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launch_arguments={'namespace': namespace,
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'use_namespace': use_namespace,
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'slam': slam,
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'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'params_file': params_file,
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'autostart': autostart,
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'use_composition': use_composition,
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'use_respawn': use_respawn}.items())
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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_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_rviz_config_file_cmd)
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ld.add_action(declare_use_simulator_cmd)
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ld.add_action(declare_use_robot_state_pub_cmd)
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ld.add_action(declare_use_rviz_cmd)
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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_robot_name_cmd)
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ld.add_action(declare_robot_sdf_cmd)
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ld.add_action(declare_use_respawn_cmd)
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# Add any conditioned actions
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ld.add_action(start_gazebo_server_cmd)
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ld.add_action(start_gazebo_client_cmd)
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ld.add_action(start_gazebo_spawner_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(start_robot_state_publisher_cmd)
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ld.add_action(rviz_cmd)
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ld.add_action(bringup_cmd)
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return ld
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