add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2022 Samsung R&D Institute 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
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    # Environment
+    package_dir = get_package_share_directory('nav2_collision_monitor')
+
+    # Constant parameters
+    lifecycle_nodes = ['collision_monitor']
+    autostart = True
+
+    # Launch arguments
+    # 1. Create the launch configuration variables
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    params_file = LaunchConfiguration('params_file')
+
+    # 2. Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    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(package_dir, 'params', 'collision_monitor_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    # 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)
+
+    # Nodes launching commands
+    start_lifecycle_manager_cmd = Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager',
+            output='screen',
+            emulate_tty=True,  # https://github.com/ros2/launch/issues/188
+            parameters=[{'use_sim_time': use_sim_time},
+                        {'autostart': autostart},
+                        {'node_names': lifecycle_nodes}])
+
+    start_collision_monitor_cmd = Node(
+            package='nav2_collision_monitor',
+            executable='collision_monitor',
+            output='screen',
+            emulate_tty=True,  # https://github.com/ros2/launch/issues/188
+            parameters=[configured_params])
+
+    ld = LaunchDescription()
+
+    # Launch arguments
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+
+    # Node launching commands
+    ld.add_action(start_lifecycle_manager_cmd)
+    ld.add_action(start_collision_monitor_cmd)
+
+    return ld