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added amcl node
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231
launch/robot_amcl.launch.py
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231
launch/robot_amcl.launch.py
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# Copyright (c) 2018 Intel Corporation
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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 ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, GroupAction
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from launch.actions import SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import EqualsSubstitution
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch.substitutions import NotEqualsSubstitution
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from launch_ros.actions import LoadComposableNodes, SetParameter
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode, ParameterFile
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('cps_rmp220_support')
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namespace = LaunchConfiguration('namespace')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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autostart = LaunchConfiguration('autostart')
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params_file = LaunchConfiguration('params_file')
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use_composition = LaunchConfiguration('use_composition')
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container_name = LaunchConfiguration('container_name')
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container_name_full = (namespace, '/', container_name)
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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lifecycle_nodes = ['map_server', 'amcl']
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'),
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('/tf_static', 'tf_static')]
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configured_params = ParameterFile(
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RewrittenYaml(
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source_file=params_file,
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root_key=namespace,
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param_rewrites={},
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convert_types=True),
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allow_substs=True)
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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default_value='',
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description='Full path to map yaml file to load')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition', default_value='False',
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description='Use composed bringup if True')
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declare_container_name_cmd = DeclareLaunchArgument(
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'container_name', default_value='nav2_container',
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description='the name of conatiner that nodes will load in if use composition')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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load_nodes = GroupAction(
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condition=IfCondition(PythonExpression(['not ', use_composition])),
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actions=[
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SetParameter('use_sim_time', use_sim_time),
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Node(
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condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')),
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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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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')),
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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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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params,
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{'yaml_filename': map_yaml_file}],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_amcl',
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executable='amcl',
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name='amcl',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager_localization',
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output='screen',
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arguments=['--ros-args', '--log-level', log_level],
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parameters=[{'autostart': autostart},
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{'node_names': lifecycle_nodes}])
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]
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)
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# LoadComposableNode for map server twice depending if we should use the
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# value of map from a CLI or launch default or user defined value in the
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# yaml configuration file. They are separated since the conditions
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# currently only work on the LoadComposableNodes commands and not on the
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# ComposableNode node function itself
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load_composable_nodes = GroupAction(
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condition=IfCondition(use_composition),
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actions=[
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SetParameter('use_sim_time', use_sim_time),
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LoadComposableNodes(
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target_container=container_name_full,
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condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')),
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composable_node_descriptions=[
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ComposableNode(
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package='nav2_map_server',
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plugin='nav2_map_server::MapServer',
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name='map_server',
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parameters=[configured_params],
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remappings=remappings),
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],
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),
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LoadComposableNodes(
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target_container=container_name_full,
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condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')),
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composable_node_descriptions=[
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ComposableNode(
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package='nav2_map_server',
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plugin='nav2_map_server::MapServer',
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name='map_server',
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parameters=[configured_params,
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{'yaml_filename': map_yaml_file}],
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remappings=remappings),
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],
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),
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LoadComposableNodes(
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target_container=container_name_full,
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composable_node_descriptions=[
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ComposableNode(
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package='nav2_amcl',
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plugin='nav2_amcl::AmclNode',
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name='amcl',
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parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
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package='nav2_lifecycle_manager',
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plugin='nav2_lifecycle_manager::LifecycleManager',
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name='lifecycle_manager_localization',
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parameters=[{'autostart': autostart,
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'node_names': lifecycle_nodes}]),
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],
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)
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]
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_container_name_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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# Add the actions to launch all of the localiztion nodes
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ld.add_action(load_nodes)
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ld.add_action(load_composable_nodes)
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return ld
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