update: code cleanup and tuning

launch/min_bot_mini.launch.py

@@ -105,6 +105,4 @@ def generate_launch_description():
         robot_controller_spawner,
         joystick_spawner,
         teleop_spawner,
-        #cam_node,
-        #lidar_node
     ])

launch/robot_cam.launch.py

@@ -21,70 +21,28 @@ from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import LifecycleNode
 from launch_ros.descriptions import ParameterValue
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_loki_description"),
-                    "urdf",
-                    "odrive_diffbot.urdf.xacro"
-                ]
-            ),
-        ]
-    )
-    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
 
-    robot_controllers = PathJoinSubstitution(
+    namespace = LaunchConfiguration('namespace')
-        [
+    use_sim_time = LaunchConfiguration('use_sim_time')
-            FindPackageShare("cps_loki_bringup"),
-            "config",
-            "diffbot_controllers.yaml",
-        ]
-    )
 
-    control_node = Node(
+    declare_namespace_cmd = DeclareLaunchArgument(
-        package="controller_manager",
+        'namespace',
-        executable="ros2_control_node",
+        default_value='',
-        parameters=[robot_description, robot_controllers],
+        description='Top-level namespace')
-        output="both",
-    )
 
-    robot_state_pub_node = Node(
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        package="robot_state_publisher",
+        'use_sim_time',
-        executable="robot_state_publisher",
+        default_value='false',
-        output="both",
+        description='Use simulation (Gazebo) clock if true')
-        parameters=[robot_description],
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
-    )
-
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop"
-    )
 
     cam_node = Node(
         package="ros2_cam_openCV",
-        executable="cam_node"
+        executable="cam_node",
+        namespace=namespace
     )
 
     lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
@@ -99,12 +57,5 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        #control_node,
+        cam_node
-        #robot_state_pub_node,
-        #joint_state_broadcaster_spawner,
-        #robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        cam_node,
-        #lidar_node
     ])

launch/robot_controller.launch.py

@@ -21,8 +21,24 @@ from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import LifecycleNode
 from launch_ros.descriptions import ParameterValue
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
+
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
@@ -42,7 +58,7 @@ def generate_launch_description():
         [
             FindPackageShare("cps_loki_bringup"),
             "config",
-            "diffbot_controllers.yaml",
+            "controllers.yaml",
         ]
     )
 

launch/robot_joy_teleop.launch.py

@@ -21,93 +21,30 @@ from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import LifecycleNode
 from launch_ros.descriptions import ParameterValue
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
-    #use_sim_time = LaunchConfiguration('use_sim_time')
+    namespace = LaunchConfiguration('namespace')
-    use_sim_time = True
+    use_sim_time = LaunchConfiguration('use_sim_time')
 
-    robot_description_content = Command(
+    declare_namespace_cmd = DeclareLaunchArgument(
-        [
+        'namespace',
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
+        default_value='',
-            " ",
+        description='Top-level namespace')
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_loki_description"),
-                    "urdf",
-                    "odrive_diffbot.urdf.xacro"
-                ]
-            ),
-        ]
-    )
-    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
 
-    robot_controllers = PathJoinSubstitution(
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        [
+        'use_sim_time',
-            FindPackageShare("cps_loki_bringup"),
+        default_value='false',
-            "config",
+        description='Use simulation (Gazebo) clock if true')
-            "diffbot_controllers.yaml",
-        ]
-    )
 
-    control_node = Node(
+    twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','mux.yaml')
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output="both",
-    )
-
-    robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
-    )
-
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop",
-        remappings=[('cmd_vel', 'cmd_vel_joy')],
-    )
-
-    cam_node = Node(
-        package="ros2_cam_openCV",
-        executable="cam_node"
-    )
-
-    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
-    lidar_node = LifecycleNode(
-        package='lslidar_driver',
-        executable='lslidar_driver_node',
-        name='lslidar_driver_node',
-        output='screen',
-        emulate_tty=True,
-        namespace='',
-        parameters=[lidar_dir],
-    )
-
-    twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','twist_mux.yaml')
     twist_mux = Node(
             package="twist_mux",
             executable="twist_mux",
-            parameters=[twist_mux_params, {'use_sim_time': False}],
+            parameters=[twist_mux_params, {'use_sim_time': use_sim_time}],
             remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
+            namespace = namespace
         )
 
     joy_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','joystick.yaml')
@@ -115,7 +52,7 @@ def generate_launch_description():
             package='joy',
             executable='joy_node',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
-            #namespace = namespace
+            namespace = namespace
          )
     
     teleop_node = Node(
@@ -124,18 +61,10 @@ def generate_launch_description():
             name='teleop_node',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
             remappings=[('cmd_vel', 'cmd_vel_joy')],
-            #namespace = namespace
+            namespace = namespace
          )
 
     return LaunchDescription([
-        #control_node,
-        #robot_state_pub_node,
-        #joint_state_broadcaster_spawner,
-        #robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        #cam_node,
-        #lidar_node,
         twist_mux,
         joy_node,
         teleop_node

launch/robot_lidar.launch.py

@@ -21,17 +21,32 @@ from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import LifecycleNode
 from launch_ros.descriptions import ParameterValue
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
 
-    lidar_dir = os.path.join(get_package_share_directory('cps_loki_bringup'), 'config', 'lsx10.yaml')         
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    lidar_dir = os.path.join(get_package_share_directory('cps_loki_bringup'), 'config', 'lidar.yaml')         
     lidar_node = LifecycleNode(
         package='lslidar_driver',
         executable='lslidar_driver_node',
         name='lslidar_driver_node',
         output='screen',
         emulate_tty=True,
-        namespace='',
+        namespace=namespace,
         parameters=[lidar_dir],
     )
 

launch/robot_localization.launch.py

@@ -22,101 +22,23 @@ from launch_ros.actions import LifecycleNode
 from launch_ros.descriptions import ParameterValue
 from launch.substitutions import LaunchConfiguration
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_loki_description"),
-                    "urdf",
-                    "odrive_diffbot.urdf.xacro"
-                ]
-            ),
-        ]
-    )
-    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
 
-    robot_controllers = PathJoinSubstitution(
+    namespace = LaunchConfiguration('namespace')
-        [
+    use_sim_time = LaunchConfiguration('use_sim_time')
-            FindPackageShare("cps_loki_bringup"),
-            "config",
-            "diffbot_controllers.yaml",
-        ]
-    )
 
-    control_node = Node(
+    declare_namespace_cmd = DeclareLaunchArgument(
-        package="controller_manager",
+        'namespace',
-        executable="ros2_control_node",
+        default_value='',
-        parameters=[robot_description, robot_controllers],
+        description='Top-level namespace')
-        output="both",
-    )
 
-    robot_state_pub_node = Node(
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        package="robot_state_publisher",
+        'use_sim_time',
-        executable="robot_state_publisher",
+        default_value='false',
-        output="both",
+        description='Use simulation (Gazebo) clock if true')
-        parameters=[robot_description],
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
-    )
-
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop"
-    )
-
-    cam_node = Node(
-        package="ros2_cam_openCV",
-        executable="cam_node"
-    )
-
-    use_sim_time = False
-    slam_params_file = PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_loki_bringup"),
-                    "config",
-                    "mapper_params_online_async.yaml"
-                ]
-            )
-    mapper_node = Node(
-        package="slam_toolbox",
-        executable="async_slam_toolbox_node",
-        name='slam_toolbox_node',
-        output='screen',
-        parameters=[
-            slam_params_file,
-            {'use_sim_time': use_sim_time}
-        ],
-    )
-
-    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
-    lidar_node = LifecycleNode(
-        package='lslidar_driver',
-        executable='lslidar_driver_node',
-        name='lslidar_driver_node',
-        output='screen',
-        emulate_tty=True,
-        namespace='',
-        parameters=[lidar_dir],
-    )
 
     robot_localization_node = Node(
        package='robot_localization',
@@ -130,19 +52,11 @@ def generate_launch_description():
                     "ekf.yaml"
                 ]
             ) ,
-            #{'use_sim_time': LaunchConfiguration('use_sim_time')}
+            {'use_sim_time': LaunchConfiguration('use_sim_time')}
-            ]
+            ],
+        namespace=namespace
     )
 
     return LaunchDescription([
-        #control_node,
-        #robot_state_pub_node,
-        #joint_state_broadcaster_spawner,
-        #robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        #cam_node,
-        #lidar_node,
-        #mapper_node,
         robot_localization_node
     ])

launch/robot_mapper.launch.py

@@ -22,14 +22,29 @@ from launch_ros.actions import LifecycleNode
 from launch_ros.descriptions import ParameterValue
 from launch.substitutions import LaunchConfiguration
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
 
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
     slam_params_file = PathJoinSubstitution(
                 [
                     FindPackageShare("cps_loki_bringup"),
                     "config",
-                    "mapper_params_online_async.yaml"
+                    "slam.yaml"
                 ]
             )
 
@@ -42,6 +57,7 @@ def generate_launch_description():
             slam_params_file,
             {'use_sim_time': use_sim_time}
         ],
+        namespace=namespace
     )
 
     return LaunchDescription([

launch/robot_navigation.launch.py

@@ -83,7 +83,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
-        default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
+        default_value=os.path.join(bringup_dir, 'config', 'nav2.yaml'),
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(

launch/robot_scan_filter.launch.py

@@ -3,8 +3,24 @@ from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 
 def generate_launch_description():
+
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
     return LaunchDescription([
         Node(
             package="laser_filters",
@@ -14,5 +30,6 @@ def generate_launch_description():
                     get_package_share_directory("cps_loki_bringup"),
                     "config", "box_filter.yaml",
                 ])],
+            namespace=namespace
         )
     ])

launch/robot_twist_mux.launch.py

@@ -1,120 +0,0 @@
-# Copyright 2022 Factor Robotics
-#
-# 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.substitutions import Command, FindExecutable, PathJoinSubstitution
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-from ament_index_python.packages import get_package_share_directory
-from launch_ros.actions import LifecycleNode
-from launch_ros.descriptions import ParameterValue
-
-
-def generate_launch_description():
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_loki_description"),
-                    "urdf",
-                    "odrive_diffbot.urdf.xacro"
-                ]
-            ),
-        ]
-    )
-    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
-
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare("cps_loki_bringup"),
-            "config",
-            "diffbot_controllers.yaml",
-        ]
-    )
-
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output="both",
-    )
-
-    robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
-    )
-
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop",
-        remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
-    )
-
-    cam_node = Node(
-        package="ros2_cam_openCV",
-        executable="cam_node"
-    )
-
-    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
-    lidar_node = LifecycleNode(
-        package='lslidar_driver',
-        executable='lslidar_driver_node',
-        name='lslidar_driver_node',
-        output='screen',
-        emulate_tty=True,
-        namespace='',
-        parameters=[lidar_dir],
-    )
-
-    twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','twist_mux.yaml')
-    twist_mux = Node(
-            package="twist_mux",
-            executable="twist_mux",
-            parameters=[twist_mux_params, {'use_sim_time': False}],
-            remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
-        )
-
-    return LaunchDescription([
-        #control_node,
-        #robot_state_pub_node,
-        #joint_state_broadcaster_spawner,
-        #robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        #cam_node,
-        #lidar_node,
-        twist_mux
-    ])