X-lanni
95 lines
3.4 KiB
Python
95 lines
3.4 KiB
Python
# Copyright (c) 2022 Samsung Research America
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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nav2_bringup_dir = get_package_share_directory('nav2_bringup')
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benchmark_dir = os.getcwd()
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metrics_py = os.path.join(benchmark_dir, 'metrics.py')
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config = os.path.join(get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml')
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map_file = os.path.join(benchmark_dir, 'maps', 'smoothers_world.yaml')
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lifecycle_nodes = ['map_server', 'planner_server', 'smoother_server']
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static_transform_one = Node(
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package = 'tf2_ros',
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executable = 'static_transform_publisher',
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output = 'screen',
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arguments = ["0", "0", "0", "0", "0", "0", "base_link", "map"])
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static_transform_two = Node(
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package = 'tf2_ros',
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executable = 'static_transform_publisher',
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output = 'screen',
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arguments = ["0", "0", "0", "0", "0", "0", "base_link", "odom"])
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start_map_server_cmd = Node(
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package='nav2_map_server',
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executable='map_server',
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name='map_server',
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output='screen',
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parameters=[{'use_sim_time': True},
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{'yaml_filename': map_file},
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{'topic_name': "map"}])
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start_planner_server_cmd = Node(
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package='nav2_planner',
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executable='planner_server',
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name='planner_server',
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output='screen',
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parameters=[config])
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start_smoother_server_cmd = Node(
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package='nav2_smoother',
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executable='smoother_server',
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name='smoother_server',
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output='screen',
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parameters=[config])
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start_lifecycle_manager_cmd = Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager',
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output='screen',
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parameters=[{'use_sim_time': True},
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{'autostart': True},
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{'node_names': lifecycle_nodes}])
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rviz_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
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launch_arguments={'namespace': '',
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'use_namespace': 'False'}.items())
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metrics_cmd = ExecuteProcess(
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cmd=['python3', '-u', metrics_py],
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cwd=[benchmark_dir], output='screen')
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ld = LaunchDescription()
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ld.add_action(static_transform_one)
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ld.add_action(static_transform_two)
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ld.add_action(start_map_server_cmd)
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ld.add_action(start_planner_server_cmd)
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ld.add_action(start_smoother_server_cmd)
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ld.add_action(start_lifecycle_manager_cmd)
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ld.add_action(rviz_cmd)
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ld.add_action(metrics_cmd)
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return ld
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