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 +1,73 @@
+# Copyright (c) 2022 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 launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    config = os.path.join(get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml')
+    map_file = os.path.join(nav2_bringup_dir, 'maps', 'turtlebot3_world.yaml')
+    lifecycle_nodes = ['map_server', 'planner_server']
+
+    return LaunchDescription([
+        Node(
+            package='nav2_map_server',
+            executable='map_server',
+            name='map_server',
+            output='screen',
+            parameters=[{'use_sim_time': True},
+                        {'yaml_filename': map_file},
+                        {'topic_name': "map"}]),
+
+        Node(
+            package='nav2_planner',
+            executable='planner_server',
+            name='planner_server',
+            output='screen',
+            parameters=[config]),
+
+        Node(
+            package = 'tf2_ros',
+            executable = 'static_transform_publisher',
+            output = 'screen',
+            arguments = ["0", "0", "0", "0", "0", "0", "base_link", "map"]),
+
+        Node(
+            package = 'tf2_ros',
+            executable = 'static_transform_publisher',
+            output = 'screen',
+            arguments = ["0", "0", "0", "0", "0", "0", "base_link", "odom"]),
+
+        Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager',
+            output='screen',
+            parameters=[{'use_sim_time': True},
+                        {'autostart': True},
+                        {'node_names': lifecycle_nodes}]),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+            launch_arguments={'namespace': '',
+                              'use_namespace': 'False'}.items())
+
+    ])