mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 15:45:08 +00:00
109 lines
4.0 KiB
Python
109 lines
4.0 KiB
Python
# 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, EmitEvent, RegisterEventHandler
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from launch.conditions import IfCondition, UnlessCondition
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from launch.event_handlers import OnProcessExit
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from launch.events import Shutdown
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from nav2_common.launch import ReplaceString
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('cps_rmp220_support')
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# Create the launch configuration variables
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_namespace')
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rviz_config_file = LaunchConfiguration('rviz_config')
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# Declare the launch arguments
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='navigation',
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description=('Top-level namespace. The value will be used to replace the '
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'<robot_namespace> keyword on the rviz config file.'))
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declare_use_namespace_cmd = DeclareLaunchArgument(
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'use_namespace',
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default_value='false',
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description='Whether to apply a namespace to the navigation stack')
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declare_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config',
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default_value=os.path.join(bringup_dir, 'config', 'nav2_default_view.rviz'),
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description='Full path to the RVIZ config file to use')
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# Launch rviz
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start_rviz_cmd = Node(
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condition=UnlessCondition(use_namespace),
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package='rviz2',
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executable='rviz2',
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arguments=['-d', rviz_config_file],
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output='screen')
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namespaced_rviz_config_file = ReplaceString(
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source_file=rviz_config_file,
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replacements={'<robot_namespace>': ('/', namespace)})
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start_namespaced_rviz_cmd = Node(
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condition=IfCondition(use_namespace),
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package='rviz2',
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executable='rviz2',
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namespace=namespace,
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arguments=['-d', namespaced_rviz_config_file],
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output='screen',
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remappings=[('/map', 'map'),
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('/tf', 'tf'),
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('/tf_static', 'tf_static'),
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('/goal_pose', 'goal_pose'),
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('/clicked_point', 'clicked_point'),
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('/initialpose', 'initialpose')])
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exit_event_handler = RegisterEventHandler(
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condition=UnlessCondition(use_namespace),
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event_handler=OnProcessExit(
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target_action=start_rviz_cmd,
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on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
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exit_event_handler_namespaced = RegisterEventHandler(
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condition=IfCondition(use_namespace),
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event_handler=OnProcessExit(
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target_action=start_namespaced_rviz_cmd,
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on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
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# Create the launch description and populate
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ld = LaunchDescription()
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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_use_namespace_cmd)
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ld.add_action(declare_rviz_config_file_cmd)
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# Add any conditioned actions
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ld.add_action(start_rviz_cmd)
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ld.add_action(start_namespaced_rviz_cmd)
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# Add other nodes and processes we need
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ld.add_action(exit_event_handler)
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ld.add_action(exit_event_handler_namespaced)
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return ld |