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launch/localization.launch.py
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192
launch/localization.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, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import LoadComposableNodes
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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('nav2_bringup')
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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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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'yaml_filename': map_yaml_file}
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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=param_substitutions,
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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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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, 'params', '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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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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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_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=[{'use_sim_time': use_sim_time},
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{'autostart': autostart},
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{'node_names': lifecycle_nodes}])
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]
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)
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load_composable_nodes = LoadComposableNodes(
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condition=IfCondition(use_composition),
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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_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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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=[{'use_sim_time': use_sim_time,
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'autostart': autostart,
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'node_names': lifecycle_nodes}]),
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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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272
launch/navigation.launch.py
Normal file
272
launch/navigation.launch.py
Normal file
@ -0,0 +1,272 @@
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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.
|
||||
# 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, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import LoadComposableNodes
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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('nav2_bringup')
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namespace = LaunchConfiguration('namespace')
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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 = ['controller_server',
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'smoother_server',
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'planner_server',
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'behavior_server',
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'bt_navigator',
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'waypoint_follower',
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'velocity_smoother']
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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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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'autostart': autostart}
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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=param_substitutions,
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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_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, 'params', '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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Node(
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package='nav2_controller',
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executable='controller_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 + [('cmd_vel', 'cmd_vel_nav')]),
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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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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_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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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_behaviors',
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executable='behavior_server',
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name='behavior_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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package='nav2_bt_navigator',
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executable='bt_navigator',
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name='bt_navigator',
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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_waypoint_follower',
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executable='waypoint_follower',
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name='waypoint_follower',
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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_velocity_smoother',
|
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executable='velocity_smoother',
|
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name='velocity_smoother',
|
||||
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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[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
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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_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(
|
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condition=IfCondition(use_composition),
|
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target_container=container_name_full,
|
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composable_node_descriptions=[
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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
|
||||
@ -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 nav2_common.launch import RewrittenYaml
|
||||
from launch_ros.actions import PushRosNamespace
|
||||
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',
|
||||
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')
|
||||
'use_composition', default_value='True',
|
||||
description='Whether to use composed bringup')
|
||||
|
||||
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(
|
||||
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}]),
|
||||
]
|
||||
)
|
||||
# Specify the actions
|
||||
bringup_cmd_group = GroupAction([
|
||||
PushRosNamespace(
|
||||
condition=IfCondition(use_namespace),
|
||||
namespace=namespace),
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
Node(
|
||||
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,
|
||||
name='nav2_container',
|
||||
package='rclcpp_components',
|
||||
executable='component_container_isolated',
|
||||
parameters=[configured_params, {'autostart': autostart}],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings,
|
||||
output='screen'),
|
||||
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
|
||||
condition=IfCondition(slam),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
'use_respawn': use_respawn,
|
||||
'params_file': params_file}.items()),
|
||||
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(os.path.join(launch_dir,
|
||||
'localization_launch.py')),
|
||||
condition=IfCondition(PythonExpression(['not ', slam])),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'map': map_yaml_file,
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'params_file': params_file,
|
||||
'use_composition': use_composition,
|
||||
'use_respawn': use_respawn,
|
||||
'container_name': 'nav2_container'}.items()),
|
||||
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'params_file': params_file,
|
||||
'use_composition': use_composition,
|
||||
'use_respawn': use_respawn,
|
||||
'container_name': 'nav2_container'}.items()),
|
||||
])
|
||||
|
||||
# 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(load_composable_nodes)
|
||||
ld.add_action(bringup_cmd_group)
|
||||
|
||||
return ld
|
||||
142
launch/slam.launch.py
Normal file
142
launch/slam.launch.py
Normal file
@ -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
|
||||
Loading…
Reference in New Issue
Block a user