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 +1,55 @@
+#!/usr/bin/env python3
+
+# 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.
+
+from launch import LaunchDescription
+import launch_ros.actions
+
+
+def generate_launch_description():
+    # Parameters
+    lifecycle_nodes = ['map_saver']
+    use_sim_time = True
+    autostart = True
+    save_map_timeout = 2.0
+    free_thresh_default = 0.25
+    occupied_thresh_default = 0.65
+
+    # Nodes launching commands
+    start_map_saver_server_cmd = launch_ros.actions.Node(
+            package='nav2_map_server',
+            executable='map_saver_server',
+            output='screen',
+            emulate_tty=True,  # https://github.com/ros2/launch/issues/188
+            parameters=[{'save_map_timeout': save_map_timeout},
+                        {'free_thresh_default': free_thresh_default},
+                        {'occupied_thresh_default': occupied_thresh_default}])
+
+    start_lifecycle_manager_cmd = launch_ros.actions.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}])
+
+    ld = LaunchDescription()
+
+    ld.add_action(start_map_saver_server_cmd)
+    ld.add_action(start_lifecycle_manager_cmd)
+
+    return ld