add humble-navigation2

navigation2/nav2_simple_commander/launch/assisted_teleop_example_launch.py

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+# Copyright (c) 2021 Samsung Research America
+# Copyright (c) 2022 Joshua Wallace
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='example_assisted_teleop',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/follow_path_example_launch.py

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+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='example_follow_path',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/inspection_demo_launch.py

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+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='demo_inspection',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/nav_through_poses_example_launch.py

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+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='example_nav_through_poses',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/nav_to_pose_example_launch.py

@@ -0,0 +1,98 @@
+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='example_nav_to_pose',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/picking_demo_launch.py

@@ -0,0 +1,98 @@
+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='demo_picking',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/recoveries_example_launch.py

@@ -0,0 +1,98 @@
+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='demo_recoveries',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/security_demo_launch.py

@@ -0,0 +1,98 @@
+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='demo_security',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld

navigation2/nav2_simple_commander/launch/warehouse.world

@@ -0,0 +1,683 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.6">
+  <world name="default">
+    
+    <gravity>0 0 -9.8</gravity>
+    <physics default="0" name="default_physics" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+
+    
+        <!--model name="aws_robomaker_warehouse_RoofB_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_RoofB_01</uri>
+        </include>
+        <pose frame="">0.0 0.0 0 0 0 0</pose>
+	</model-->
+
+        <model name="aws_robomaker_warehouse_ShelfF_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfF_01</uri>
+        </include>
+        <pose frame="">-5.795143 -0.956635 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_WallB_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_WallB_01</uri>
+        </include>
+        <pose frame="">0.0 0.0 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_ShelfE_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
+        </include>
+        <pose frame="">4.73156 0.57943 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_ShelfE_01_002">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
+        </include>
+        <pose frame="">4.73156 -4.827049 0 0 0 0</pose>
+	</model>
+        
+        <model name="aws_robomaker_warehouse_ShelfE_01_003">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
+        </include>
+        <pose frame="">4.73156 -8.6651 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_ShelfD_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
+        </include>
+        <pose frame="">4.73156 -1.242668 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_ShelfD_01_002">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
+        </include>
+        <pose frame="">4.73156 -3.038551 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_ShelfD_01_003">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
+        </include>
+        <pose frame="">4.73156 -6.750542 0 0 0 0</pose>
+	</model>
+
+        <!--model name="aws_robomaker_warehouse_DeskC_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_DeskC_01</uri>
+        </include>
+        <pose frame="">-0.061684 6.135864 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_DeskC_01_002">
+        <include>
+            <uri>model://aws_robomaker_warehouse_DeskC_01</uri>
+        </include>
+        <pose frame="">-0.061684 3.039 0 0 0 0</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_DeskC_01_003">
+        <include>
+            <uri>model://aws_robomaker_warehouse_DeskC_01</uri>
+        </include>
+        <pose frame="">-0.061684 -6.6493 0 0 0 0</pose>
+	</model-->
+
+        <model name="aws_robomaker_warehouse_GroundB_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_GroundB_01</uri>
+        </include>
+        <pose frame="">0.0 0.0 -0.090092 0 0 0</pose>
+	</model>
+       
+        <model name="aws_robomaker_warehouse_Lamp_01_005">
+        <include>
+            <uri>model://aws_robomaker_warehouse_Lamp_01</uri>
+        </include>
+        <pose frame="">0 0 -4 0 0 0</pose>
+	</model>
+       
+	
+
+        <model name="aws_robomaker_warehouse_Bucket_01_020">
+        <include>
+            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
+        </include>
+        <pose frame="">0.433449 9.631706 0 0 0 -1.563161</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_Bucket_01_021">
+        <include>
+            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
+        </include>
+        <pose frame="">-1.8321 -6.3752 0 0 0 -1.563161</pose>
+	</model>
+
+        <model name="aws_robomaker_warehouse_Bucket_01_022">
+        <include>
+            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
+        </include>
+        <pose frame="">0.433449 8.59 0 0 0 -1.563161</pose>
+	</model>
+
+  <model name='aws_robomaker_warehouse_ClutteringA_01_016'>
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
+        </include>
+        <pose frame=''>5.708138 8.616844 -0.017477 0 0 0</pose>
+	</model>
+
+      <model name='aws_robomaker_warehouse_ClutteringA_01_017'>
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
+        </include>
+        <pose frame=''>3.408638 8.616844 -0.017477 0 0 0</pose>
+	</model>
+
+      <model name='aws_robomaker_warehouse_ClutteringA_01_018'>
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
+        </include>
+        <pose frame=''>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
+	</model>
+
+
+     <model name="aws_robomaker_warehouse_ClutteringC_01_027">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+        </include>
+        <pose frame="">3.324959 3.822449 -0.012064 0 0 1.563871</pose>
+	</model>
+
+     <model name="aws_robomaker_warehouse_ClutteringC_01_028">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+        </include>
+        <pose frame="">5.54171 3.816475 -0.015663 0 0 -1.583191</pose>
+	</model>
+
+     <model name="aws_robomaker_warehouse_ClutteringC_01_029">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+        </include>
+        <pose frame="">5.384239 6.137154 0 0 0 3.150000</pose>
+	</model>
+
+     <model name="aws_robomaker_warehouse_ClutteringC_01_030">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+        </include>
+        <pose frame="">3.236 6.137154 0 0 0 3.150000</pose>
+	</model>
+
+     <model name="aws_robomaker_warehouse_ClutteringC_01_031">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+        </include>
+        <pose frame="">-1.573677 2.301994 -0.015663 0 0 -3.133191</pose>
+	</model>
+
+     <model name="aws_robomaker_warehouse_ClutteringC_01_032">
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+        </include>
+        <pose frame="">-1.2196 9.407 -0.015663 0 0 1.563871</pose>
+	</model>
+
+     <model name='aws_robomaker_warehouse_ClutteringD_01_005'>
+        <include>
+            <uri>model://aws_robomaker_warehouse_ClutteringD_01</uri>
+        </include>
+        <pose frame=''>-1.634682 -7.811813 -0.319559 0 0 0</pose>
+	</model>
+                                                 
+      <model name='aws_robomaker_warehouse_TrashCanC_01_002'>
+        <include>
+            <uri>model://aws_robomaker_warehouse_TrashCanC_01</uri>
+        </include>
+        <pose frame=''>-1.592441 7.715420 0 0 0 0</pose>
+	</model>
+
+
+      <model name='aws_robomaker_warehouse_PalletJackB_01_001'>
+        <include>
+            <uri>model://aws_robomaker_warehouse_PalletJackB_01</uri>
+        </include>
+        <pose frame=''>-0.276098 -9.481944 0.023266 0 0 0</pose>
+	</model>
+
+    	
+    <light name="Warehouse_CeilingLight_003" type="point">
+      <pose frame="">0 0 9 0 0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>80</range>
+        <constant>0.3</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+      <direction>0.1 0.1 -1</direction>
+    </light>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-4.70385 10.895 16.2659 -0 0.921795 -1.12701</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <model name="turtlebot3_waffle"> 
+      <pose>3.45 2.15 0.01 0.0 0.0 3.14</pose>
+
+      <link name="base_footprint"/>
+
+      <link name="base_link">
+
+        <inertial>
+          <pose>-0.064 0 0.048 0 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+
+        <collision name="base_collision">
+          <pose>-0.064 0 0.048 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.265 0.265 0.089</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="base_visual">
+          <pose>-0.064 0 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+
+      <link name="imu_link">
+        <sensor name="tb3_imu" type="imu">
+          <always_on>true</always_on>
+          <update_rate>200</update_rate>
+          <imu>
+            <angular_velocity>
+              <x>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>2e-4</stddev>
+                </noise>
+              </x>
+              <y>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>2e-4</stddev>
+                </noise>
+              </y>
+              <z>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>2e-4</stddev>
+                </noise>
+              </z>
+            </angular_velocity>
+            <linear_acceleration>
+              <x>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>1.7e-2</stddev>
+                </noise>
+              </x>
+              <y>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>1.7e-2</stddev>
+                </noise>
+              </y>
+              <z>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>1.7e-2</stddev>
+                </noise>
+              </z>
+            </linear_acceleration>
+          </imu>
+          <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+            <initial_orientation_as_reference>false</initial_orientation_as_reference>
+            <ros>
+              <!-- <namespace>/tb3</namespace> -->
+              <remapping>~/out:=imu</remapping>
+            </ros>
+          </plugin>
+        </sensor>
+      </link>
+
+      <link name="base_scan">
+        <inertial>
+          <pose>-0.052 0 0.111 0 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.125</mass>
+        </inertial>
+
+        <collision name="lidar_sensor_collision">
+          <pose>-0.052 0 0.111 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.0508</radius>
+              <length>0.055</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="lidar_sensor_visual">
+          <pose>-0.064 0 0.121 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <sensor name="hls_lfcd_lds" type="ray">
+          <always_on>true</always_on>
+          <visualize>true</visualize>
+          <pose>-0.064 0 0.121 0 0 0</pose>
+          <update_rate>5</update_rate>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>360</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>6.280000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.120000</min>
+              <max>3.5</max>
+              <resolution>0.015000</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </ray>
+          <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+            <ros>
+                <!-- <namespace>/tb3</namespace> -->
+                <remapping>~/out:=scan</remapping>
+            </ros>
+            <output_type>sensor_msgs/LaserScan</output_type>
+            <frame_name>base_scan</frame_name>
+          </plugin>
+        </sensor>
+      </link>
+
+      <link name="wheel_left_link">
+
+        <inertial>
+          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.1</mass>
+        </inertial>
+
+        <collision name="wheel_left_collision">
+          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033</radius>
+              <length>0.018</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <!-- This friction pamareter don't contain reliable data!! -->
+            <friction>
+              <ode>
+                <mu>100000.0</mu>
+                <mu2>100000.0</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name="wheel_left_visual">
+          <pose>0.0 0.144 0.023 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+
+      <link name="wheel_right_link">
+
+        <inertial>
+          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.1</mass>
+        </inertial>
+      
+        <collision name="wheel_right_collision">
+          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033</radius>
+              <length>0.018</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <!-- This friction pamareter don't contain reliable data!! -->
+            <friction>
+              <ode>
+                <mu>100000.0</mu>
+                <mu2>100000.0</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name="wheel_right_visual">
+          <pose>0.0 -0.144 0.023 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+
+      <link name='caster_back_right_link'>
+        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+        <inertial>
+          <mass>0.001</mass>
+          <inertia>
+            <ixx>0.00001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.00001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.00001</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <sphere>
+              <radius>0.005000</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+
+      <link name='caster_back_left_link'>
+        <pose>-0.177 0.064 -0.004 0 0 0</pose>
+        <inertial>
+          <mass>0.001</mass>
+          <inertia>
+            <ixx>0.00001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.00001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.00001</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <sphere>
+              <radius>0.005000</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+
+      <joint name="base_joint" type="fixed">
+        <parent>base_footprint</parent>
+        <child>base_link</child>
+        <pose>0.0 0.0 0.010 0 0 0</pose>
+      </joint>
+
+      <joint name="wheel_left_joint" type="revolute">
+        <parent>base_link</parent>
+        <child>wheel_left_link</child>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <joint name="wheel_right_joint" type="revolute">
+        <parent>base_link</parent>
+        <child>wheel_right_link</child>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <joint name='caster_back_right_joint' type='ball'>
+        <parent>base_link</parent>
+        <child>caster_back_right_link</child>
+      </joint>
+
+      <joint name='caster_back_left_joint' type='ball'>
+        <parent>base_link</parent>
+        <child>caster_back_left_link</child>
+      </joint>
+
+      <joint name="lidar_joint" type="fixed">
+        <parent>base_link</parent>
+        <child>base_scan</child>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+        <ros>
+          <!-- <namespace>/tb3</namespace> -->
+          <remapping>/tf:=tf</remapping>
+        </ros>
+
+        <update_rate>30</update_rate>
+
+        <!-- wheels -->
+        <left_joint>wheel_left_joint</left_joint>
+        <right_joint>wheel_right_joint</right_joint>
+
+        <!-- kinematics -->
+        <wheel_separation>0.287</wheel_separation>
+        <wheel_diameter>0.066</wheel_diameter>
+
+        <!-- limits -->
+        <max_wheel_torque>20</max_wheel_torque>
+        <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+        <command_topic>cmd_vel</command_topic>
+
+        <!-- output -->
+        <publish_odom>true</publish_odom>
+        <publish_odom_tf>true</publish_odom_tf>
+        <publish_wheel_tf>false</publish_wheel_tf>
+
+        <odometry_topic>odom</odometry_topic>
+        <odometry_frame>odom</odometry_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
+
+      </plugin>
+
+      <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+        <ros>
+          <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=joint_states</remapping>
+        </ros>
+        <update_rate>30</update_rate>
+        <joint_name>wheel_left_joint</joint_name>
+        <joint_name>wheel_right_joint</joint_name>
+      </plugin>
+
+    </model>
+
+  </world>
+</sdf>

navigation2/nav2_simple_commander/launch/waypoint_follower_example_launch.py

@@ -0,0 +1,98 @@
+# Copyright (c) 2021 Samsung Research America
+#
+# 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, 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():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression(['not ', headless])),
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='example_waypoint_follower',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld