update

launch/localization.launch.py

@@ -0,0 +1,192 @@
+# 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, GroupAction, SetEnvironmentVariable
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.actions import Node
+from launch_ros.descriptions import ComposableNode, ParameterFile
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+
+    namespace = LaunchConfiguration('namespace')
+    map_yaml_file = LaunchConfiguration('map')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    params_file = LaunchConfiguration('params_file')
+    use_composition = LaunchConfiguration('use_composition')
+    container_name = LaunchConfiguration('container_name')
+    container_name_full = (namespace, '/', container_name)
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
+
+    lifecycle_nodes = ['map_server', 'amcl']
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    # TODO(orduno) Substitute with `PushNodeRemapping`
+    #              https://github.com/ros2/launch_ros/issues/56
+    remappings = [('/tf', 'tf'),
+                  ('/tf_static', 'tf_static')]
+
+    # Create our own temporary YAML files that include substitutions
+    param_substitutions = {
+        'use_sim_time': use_sim_time,
+        'yaml_filename': map_yaml_file}
+
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_map_yaml_cmd = DeclareLaunchArgument(
+        'map',
+        description='Full path to map yaml file to load')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart', default_value='true',
+        description='Automatically startup the nav2 stack')
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition', default_value='False',
+        description='Use composed bringup if True')
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name', default_value='nav2_container',
+        description='the name of conatiner that nodes will load in if use composition')
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn', default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    load_nodes = GroupAction(
+        condition=IfCondition(PythonExpression(['not ', use_composition])),
+        actions=[
+            Node(
+                package='nav2_map_server',
+                executable='map_server',
+                name='map_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_amcl',
+                executable='amcl',
+                name='amcl',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_lifecycle_manager',
+                executable='lifecycle_manager',
+                name='lifecycle_manager_localization',
+                output='screen',
+                arguments=['--ros-args', '--log-level', log_level],
+                parameters=[{'use_sim_time': use_sim_time},
+                            {'autostart': autostart},
+                            {'node_names': lifecycle_nodes}])
+        ]
+    )
+
+    load_composable_nodes = LoadComposableNodes(
+        condition=IfCondition(use_composition),
+        target_container=container_name_full,
+        composable_node_descriptions=[
+            ComposableNode(
+                package='nav2_map_server',
+                plugin='nav2_map_server::MapServer',
+                name='map_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_amcl',
+                plugin='nav2_amcl::AmclNode',
+                name='amcl',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_lifecycle_manager',
+                plugin='nav2_lifecycle_manager::LifecycleManager',
+                name='lifecycle_manager_localization',
+                parameters=[{'use_sim_time': use_sim_time,
+                             'autostart': autostart,
+                             'node_names': lifecycle_nodes}]),
+        ],
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Set environment variables
+    ld.add_action(stdout_linebuf_envvar)
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_map_yaml_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+
+    # Add the actions to launch all of the localiztion nodes
+    ld.add_action(load_nodes)
+    ld.add_action(load_composable_nodes)
+
+    return ld

launch/navigation.launch.py

@@ -0,0 +1,272 @@
+# 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, GroupAction, SetEnvironmentVariable
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.actions import Node
+from launch_ros.descriptions import ComposableNode, ParameterFile
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    params_file = LaunchConfiguration('params_file')
+    use_composition = LaunchConfiguration('use_composition')
+    container_name = LaunchConfiguration('container_name')
+    container_name_full = (namespace, '/', container_name)
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
+
+    lifecycle_nodes = ['controller_server',
+                       'smoother_server',
+                       'planner_server',
+                       'behavior_server',
+                       'bt_navigator',
+                       'waypoint_follower',
+                       'velocity_smoother']
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    # TODO(orduno) Substitute with `PushNodeRemapping`
+    #              https://github.com/ros2/launch_ros/issues/56
+    remappings = [('/tf', 'tf'),
+                  ('/tf_static', 'tf_static')]
+
+    # Create our own temporary YAML files that include substitutions
+    param_substitutions = {
+        'use_sim_time': use_sim_time,
+        'autostart': autostart}
+
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
+
+    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')
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart', default_value='true',
+        description='Automatically startup the nav2 stack')
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition', default_value='False',
+        description='Use composed bringup if True')
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name', default_value='nav2_container',
+        description='the name of conatiner that nodes will load in if use composition')
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn', default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    load_nodes = GroupAction(
+        condition=IfCondition(PythonExpression(['not ', use_composition])),
+        actions=[
+            Node(
+                package='nav2_controller',
+                executable='controller_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+            Node(
+                package='nav2_smoother',
+                executable='smoother_server',
+                name='smoother_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_planner',
+                executable='planner_server',
+                name='planner_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_behaviors',
+                executable='behavior_server',
+                name='behavior_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_bt_navigator',
+                executable='bt_navigator',
+                name='bt_navigator',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_waypoint_follower',
+                executable='waypoint_follower',
+                name='waypoint_follower',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_velocity_smoother',
+                executable='velocity_smoother',
+                name='velocity_smoother',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings +
+                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
+            Node(
+                package='nav2_lifecycle_manager',
+                executable='lifecycle_manager',
+                name='lifecycle_manager_navigation',
+                output='screen',
+                arguments=['--ros-args', '--log-level', log_level],
+                parameters=[{'use_sim_time': use_sim_time},
+                            {'autostart': autostart},
+                            {'node_names': lifecycle_nodes}]),
+        ]
+    )
+
+    load_composable_nodes = LoadComposableNodes(
+        condition=IfCondition(use_composition),
+        target_container=container_name_full,
+        composable_node_descriptions=[
+            ComposableNode(
+                package='nav2_controller',
+                plugin='nav2_controller::ControllerServer',
+                name='controller_server',
+                parameters=[configured_params],
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+            ComposableNode(
+                package='nav2_smoother',
+                plugin='nav2_smoother::SmootherServer',
+                name='smoother_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_planner',
+                plugin='nav2_planner::PlannerServer',
+                name='planner_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_behaviors',
+                plugin='behavior_server::BehaviorServer',
+                name='behavior_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_bt_navigator',
+                plugin='nav2_bt_navigator::BtNavigator',
+                name='bt_navigator',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_waypoint_follower',
+                plugin='nav2_waypoint_follower::WaypointFollower',
+                name='waypoint_follower',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_velocity_smoother',
+                plugin='nav2_velocity_smoother::VelocitySmoother',
+                name='velocity_smoother',
+                parameters=[configured_params],
+                remappings=remappings +
+                           [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
+            ComposableNode(
+                package='nav2_lifecycle_manager',
+                plugin='nav2_lifecycle_manager::LifecycleManager',
+                name='lifecycle_manager_navigation',
+                parameters=[{'use_sim_time': use_sim_time,
+                             'autostart': autostart,
+                             'node_names': lifecycle_nodes}]),
+        ],
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Set environment variables
+    ld.add_action(stdout_linebuf_envvar)
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(load_nodes)
+    ld.add_action(load_composable_nodes)
+
+    return ld

launch/robot_navigation.launch.py

@@ -17,37 +17,34 @@ import os
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
+from launch.actions import (DeclareLaunchArgument, GroupAction,
+                            IncludeLaunchDescription, SetEnvironmentVariable)
 from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import LoadComposableNodes
 from launch_ros.actions import Node
-from launch_ros.descriptions import ComposableNode
+from launch_ros.actions import PushRosNamespace
-from nav2_common.launch import RewrittenYaml
+from launch_ros.descriptions import ParameterFile
+from nav2_common.launch import RewrittenYaml, ReplaceString
 
 
 def generate_launch_description():
     # Get the launch directory
     bringup_dir = get_package_share_directory('cps_rmp220_support')
+    launch_dir = os.path.join(bringup_dir, 'launch')
 
+    # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    slam = LaunchConfiguration('slam')
+    map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
-    autostart = LaunchConfiguration('autostart')
     params_file = LaunchConfiguration('params_file')
+    autostart = LaunchConfiguration('autostart')
     use_composition = LaunchConfiguration('use_composition')
-    container_name = LaunchConfiguration('container_name')
-    container_name_full = (namespace, '/', container_name)
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
-    lifecycle_nodes = ['controller_server',
-                       'smoother_server',
-                       'planner_server',
-                       'behavior_server',
-                       'bt_navigator',
-                       'waypoint_follower',
-                       'velocity_smoother']
-
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
     # https://github.com/ros/geometry2/issues/32
@@ -60,13 +57,24 @@ def generate_launch_description():
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {
         'use_sim_time': use_sim_time,
-        'autostart': autostart}
+        'yaml_filename': map_yaml_file}
 
-    configured_params = RewrittenYaml(
+    # Only it applys when `use_namespace` is True.
+    # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
+    # in config file 'nav2_multirobot_params.yaml' as a default & example.
+    # User defined config file should contain '<robot_namespace>' keyword for the replacements.
+    params_file = ReplaceString(
+        source_file=params_file,
+        replacements={'<robot_namespace>': ('/', namespace)},
+        condition=IfCondition(use_namespace))
+
+    configured_params = ParameterFile(
+        RewrittenYaml(
             source_file=params_file,
             root_key=namespace,
             param_rewrites=param_substitutions,
-            convert_types=True)
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
@@ -76,6 +84,20 @@ def generate_launch_description():
         default_value='',
         description='Top-level namespace')
 
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        'use_namespace',
+        default_value='false',
+        description='Whether to apply a namespace to the navigation stack')
+
+    declare_slam_cmd = DeclareLaunchArgument(
+        'slam',
+        default_value='False',
+        description='Whether run a SLAM')
+
+    declare_map_yaml_cmd = DeclareLaunchArgument(
+        'map',
+        description='Full path to map yaml file to load')
+
     declare_use_sim_time_cmd = DeclareLaunchArgument(
         'use_sim_time',
         default_value='false',
@@ -91,12 +113,8 @@ def generate_launch_description():
         description='Automatically startup the nav2 stack')
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False',
+        'use_composition', default_value='True',
-        description='Use composed bringup if True')
+        description='Whether to use composed bringup')
-
-    declare_container_name_cmd = DeclareLaunchArgument(
-        'container_name', default_value='nav2_container',
-        description='the name of conatiner that nodes will load in if use composition')
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
         'use_respawn', default_value='False',
@@ -106,147 +124,54 @@ def generate_launch_description():
         'log_level', default_value='info',
         description='log level')
 
-    load_nodes = GroupAction(
+    # Specify the actions
-        condition=IfCondition(PythonExpression(['not ', use_composition])),
+    bringup_cmd_group = GroupAction([
-        actions=[
+        PushRosNamespace(
-            Node(
+            condition=IfCondition(use_namespace),
-                package='nav2_controller',
+            namespace=namespace),
-                executable='controller_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
-            Node(
-                package='nav2_smoother',
-                executable='smoother_server',
-                name='smoother_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_planner',
-                executable='planner_server',
-                name='planner_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_behaviors',
-                executable='behavior_server',
-                name='behavior_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_bt_navigator',
-                executable='bt_navigator',
-                name='bt_navigator',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_waypoint_follower',
-                executable='waypoint_follower',
-                name='waypoint_follower',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_velocity_smoother',
-                executable='velocity_smoother',
-                name='velocity_smoother',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings +
-                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
-            Node(
-                package='nav2_lifecycle_manager',
-                executable='lifecycle_manager',
-                name='lifecycle_manager_navigation',
-                output='screen',
-                arguments=['--ros-args', '--log-level', log_level],
-                parameters=[{'use_sim_time': use_sim_time},
-                            {'autostart': autostart},
-                            {'node_names': lifecycle_nodes}]),
-        ]
-    )
 
-    load_composable_nodes = LoadComposableNodes(
+        Node(
-        condition=IfCondition(use_composition),
+            condition=IfCondition(use_composition),
-        target_container=container_name_full,
+            name='nav2_container',
-        composable_node_descriptions=[
+            package='rclcpp_components',
-            ComposableNode(
+            executable='component_container_isolated',
-                package='nav2_controller',
+            parameters=[configured_params, {'autostart': autostart}],
-                plugin='nav2_controller::ControllerServer',
+            arguments=['--ros-args', '--log-level', log_level],
-                name='controller_server',
+            remappings=remappings,
-                parameters=[configured_params],
+            output='screen'),
-                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+
-            ComposableNode(
+        IncludeLaunchDescription(
-                package='nav2_smoother',
+            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
-                plugin='nav2_smoother::SmootherServer',
+            condition=IfCondition(slam),
-                name='smoother_server',
+            launch_arguments={'namespace': namespace,
-                parameters=[configured_params],
+                              'use_sim_time': use_sim_time,
-                remappings=remappings),
+                              'autostart': autostart,
-            ComposableNode(
+                              'use_respawn': use_respawn,
-                package='nav2_planner',
+                              'params_file': params_file}.items()),
-                plugin='nav2_planner::PlannerServer',
+
-                name='planner_server',
+        IncludeLaunchDescription(
-                parameters=[configured_params],
+            PythonLaunchDescriptionSource(os.path.join(launch_dir,
-                remappings=remappings),
+                                                       'localization_launch.py')),
-            ComposableNode(
+            condition=IfCondition(PythonExpression(['not ', slam])),
-                package='nav2_behaviors',
+            launch_arguments={'namespace': namespace,
-                plugin='behavior_server::BehaviorServer',
+                              'map': map_yaml_file,
-                name='behavior_server',
+                              'use_sim_time': use_sim_time,
-                parameters=[configured_params],
+                              'autostart': autostart,
-                remappings=remappings),
+                              'params_file': params_file,
-            ComposableNode(
+                              'use_composition': use_composition,
-                package='nav2_bt_navigator',
+                              'use_respawn': use_respawn,
-                plugin='nav2_bt_navigator::BtNavigator',
+                              'container_name': 'nav2_container'}.items()),
-                name='bt_navigator',
+
-                parameters=[configured_params],
+        IncludeLaunchDescription(
-                remappings=remappings),
+            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
-            ComposableNode(
+            launch_arguments={'namespace': namespace,
-                package='nav2_waypoint_follower',
+                              'use_sim_time': use_sim_time,
-                plugin='nav2_waypoint_follower::WaypointFollower',
+                              'autostart': autostart,
-                name='waypoint_follower',
+                              'params_file': params_file,
-                parameters=[configured_params],
+                              'use_composition': use_composition,
-                remappings=remappings),
+                              'use_respawn': use_respawn,
-            ComposableNode(
+                              'container_name': 'nav2_container'}.items()),
-                package='nav2_velocity_smoother',
+    ])
-                plugin='nav2_velocity_smoother::VelocitySmoother',
-                name='velocity_smoother',
-                parameters=[configured_params],
-                remappings=remappings +
-                           [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
-            ComposableNode(
-                package='nav2_lifecycle_manager',
-                plugin='nav2_lifecycle_manager::LifecycleManager',
-                name='lifecycle_manager_navigation',
-                parameters=[{'use_sim_time': use_sim_time,
-                             'autostart': autostart,
-                             'node_names': lifecycle_nodes}]),
-        ],
-    )
 
     # Create the launch description and populate
     ld = LaunchDescription()
@@ -256,15 +181,17 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_slam_cmd)
+    ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_params_file_cmd)
     ld.add_action(declare_autostart_cmd)
     ld.add_action(declare_use_composition_cmd)
-    ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_use_respawn_cmd)
     ld.add_action(declare_log_level_cmd)
+
     # Add the actions to launch all of the navigation nodes
-    ld.add_action(load_nodes)
+    ld.add_action(bringup_cmd_group)
-    ld.add_action(load_composable_nodes)
 
     return ld

launch/slam.launch.py

@@ -0,0 +1,142 @@
+# Copyright (c) 2020 Samsung Research Russia
+#
+# 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, IncludeLaunchDescription
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+from nav2_common.launch import HasNodeParams, RewrittenYaml
+
+
+def generate_launch_description():
+    # Input parameters declaration
+    namespace = LaunchConfiguration('namespace')
+    params_file = LaunchConfiguration('params_file')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
+
+    # Variables
+    lifecycle_nodes = ['map_saver']
+
+    # Getting directories and launch-files
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    slam_toolbox_dir = get_package_share_directory('slam_toolbox')
+    slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py')
+
+    # Create our own temporary YAML files that include substitutions
+    param_substitutions = {
+        'use_sim_time': use_sim_time}
+
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='True',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart', default_value='True',
+        description='Automatically startup the nav2 stack')
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn', default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    # Nodes launching commands
+
+    start_map_saver_server_cmd = Node(
+            package='nav2_map_server',
+            executable='map_saver_server',
+            output='screen',
+            respawn=use_respawn,
+            respawn_delay=2.0,
+            arguments=['--ros-args', '--log-level', log_level],
+            parameters=[configured_params])
+
+    start_lifecycle_manager_cmd = Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager_slam',
+            output='screen',
+            arguments=['--ros-args', '--log-level', log_level],
+            parameters=[{'use_sim_time': use_sim_time},
+                        {'autostart': autostart},
+                        {'node_names': lifecycle_nodes}])
+
+    # If the provided param file doesn't have slam_toolbox params, we must remove the 'params_file'
+    # LaunchConfiguration, or it will be passed automatically to slam_toolbox and will not load
+    # the default file
+    has_slam_toolbox_params = HasNodeParams(source_file=params_file,
+                                            node_name='slam_toolbox')
+
+    start_slam_toolbox_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(slam_launch_file),
+        launch_arguments={'use_sim_time': use_sim_time}.items(),
+        condition=UnlessCondition(has_slam_toolbox_params))
+
+    start_slam_toolbox_cmd_with_params = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(slam_launch_file),
+        launch_arguments={'use_sim_time': use_sim_time,
+                          'slam_params_file': params_file}.items(),
+        condition=IfCondition(has_slam_toolbox_params))
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+
+    # Running Map Saver Server
+    ld.add_action(start_map_saver_server_cmd)
+    ld.add_action(start_lifecycle_manager_cmd)
+
+    # Running SLAM Toolbox (Only one of them will be run)
+    ld.add_action(start_slam_toolbox_cmd)
+    ld.add_action(start_slam_toolbox_cmd_with_params)
+
+    return ld