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 +1,94 @@
+# 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 ExecuteProcess, 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')
+    benchmark_dir = os.getcwd()
+    metrics_py = os.path.join(benchmark_dir, 'metrics.py')
+    config = os.path.join(get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml')
+    map_file = os.path.join(benchmark_dir, 'maps', 'smoothers_world.yaml')
+    lifecycle_nodes = ['map_server', 'planner_server', 'smoother_server']
+
+    static_transform_one = Node(
+        package = 'tf2_ros',
+        executable = 'static_transform_publisher',
+        output = 'screen',
+        arguments = ["0", "0", "0", "0", "0", "0", "base_link", "map"])
+
+    static_transform_two = Node(
+        package = 'tf2_ros',
+        executable = 'static_transform_publisher',
+        output = 'screen',
+        arguments = ["0", "0", "0", "0", "0", "0", "base_link", "odom"])
+
+    start_map_server_cmd = 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"}])
+
+    start_planner_server_cmd = Node(
+        package='nav2_planner',
+        executable='planner_server',
+        name='planner_server',
+        output='screen',
+        parameters=[config])
+
+    start_smoother_server_cmd = Node(
+        package='nav2_smoother',
+        executable='smoother_server',
+        name='smoother_server',
+        output='screen',
+        parameters=[config])
+
+    start_lifecycle_manager_cmd = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager',
+        output='screen',
+        parameters=[{'use_sim_time': True},
+                    {'autostart': True},
+                    {'node_names': lifecycle_nodes}])
+
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    metrics_cmd = ExecuteProcess(
+        cmd=['python3', '-u', metrics_py],
+        cwd=[benchmark_dir], output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(static_transform_one)
+    ld.add_action(static_transform_two)
+    ld.add_action(start_map_server_cmd)
+    ld.add_action(start_planner_server_cmd)
+    ld.add_action(start_smoother_server_cmd)
+    ld.add_action(start_lifecycle_manager_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(metrics_cmd)
+    return ld