rviz launch file

launch/rviz.launch.py

@@ -0,0 +1,109 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# 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 ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
+from launch.conditions import IfCondition, UnlessCondition
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from nav2_common.launch import ReplaceString
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('cps_rmp220_support')
+
+    # Create the launch configuration variables
+    namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    rviz_config_file = LaunchConfiguration('rviz_config')
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='navigation',
+        description=('Top-level namespace. The value will be used to replace the '
+                     '<robot_namespace> keyword on the rviz config file.'))
+
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        'use_namespace',
+        default_value='false',
+        description='Whether to apply a namespace to the navigation stack')
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=os.path.join(bringup_dir, 'config', 'nav2_default_view.rviz'),
+        description='Full path to the RVIZ config file to use')
+
+    # Launch rviz
+    start_rviz_cmd = Node(
+        condition=UnlessCondition(use_namespace),
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', rviz_config_file],
+        output='screen')
+
+    namespaced_rviz_config_file = ReplaceString(
+        source_file=rviz_config_file,
+        replacements={'<robot_namespace>': ('/', namespace)})
+
+    start_namespaced_rviz_cmd = Node(
+        condition=IfCondition(use_namespace),
+        package='rviz2',
+        executable='rviz2',
+        namespace=namespace,
+        arguments=['-d', namespaced_rviz_config_file],
+        output='screen',
+        remappings=[('/map', 'map'),
+                    ('/tf', 'tf'),
+                    ('/tf_static', 'tf_static'),
+                    ('/goal_pose', 'goal_pose'),
+                    ('/clicked_point', 'clicked_point'),
+                    ('/initialpose', 'initialpose')])
+
+    exit_event_handler = RegisterEventHandler(
+        condition=UnlessCondition(use_namespace),
+        event_handler=OnProcessExit(
+            target_action=start_rviz_cmd,
+            on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
+
+    exit_event_handler_namespaced = RegisterEventHandler(
+        condition=IfCondition(use_namespace),
+        event_handler=OnProcessExit(
+            target_action=start_namespaced_rviz_cmd,
+            on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(start_rviz_cmd)
+    ld.add_action(start_namespaced_rviz_cmd)
+
+    # Add other nodes and processes we need
+    ld.add_action(exit_event_handler)
+    ld.add_action(exit_event_handler_namespaced)
+
+    return ld