def generate_launch_description():
# Path
nb2_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_bringup'), 'launch')
nb2nav_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_slam'), 'launch')
# Parameters
open_rviz = LaunchConfiguration('open_rviz', default='True')
neuron_app_bringup = GroupAction([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(nb2_launch_dir, 'bringup_launch.py'))),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(nb2nav_launch_dir, 'gmapping_launch.py')),
launch_arguments={'open_rviz':
open_rviz}.items()),
])
# Run mouse teleop
mouse_teleop = Node(package='mouse_teleop',
executable='mouse_teleop',
remappings=[('mouse_vel', 'cmd_vel')],
output='screen')
ld = LaunchDescription()
ld.add_action(neuron_app_bringup)
ld.add_action(mouse_teleop)
return ld
def test_launch_node_with_name_without_namespace():
node = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_name=TEST_NODE_NAME,
output='screen',
)
ld = LaunchDescription([node])
context = _launch(ld)
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 0
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 1
def test_launch_node_without_name():
node = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
ld = LaunchDescription([node])
context = _launch(ld)
# For Nodes, when node_name is omitted, launch_ros is unable to track it
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 0
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 0
def generate_launch_description():
return LaunchDescription([
Node(package='nav2_map_server',
executable='map_saver_cli',
name='map_saver_cli',
output='screen',
arguments=['-f',
str(Path.home()) + '/maps/vmegarover_samplemap'],
parameters=[{
'save_map_timeout': 10000
}]),
])
def generate_launch_description():
map_saver_cli = Node(
package='nav2_map_server',
executable='map_saver_cli',
parameters=[{'save_map_timeout': 10000}],
arguments=['-f', str(Path.home())+'/neuron_app_slam/yourmap'],
output='screen'
)
ld = LaunchDescription()
ld.add_action(map_saver_cli)
return ld
def generate_launch_description():
# Path
nb2_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_bringup'), 'launch')
nb2nav_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_nav'), 'launch')
your_map_path = str(Path.home()) + '/neuron_app_slam/yourmap.yaml'
if not os.path.isfile(your_map_path):
raise RuntimeError(
'\x1b[0;37;41m' +
'Please run Neuron APP SLAM to create your own map first.' +
'\x1b[0m')
# Parameters
open_rviz = LaunchConfiguration('open_rviz', default='True')
map_path = LaunchConfiguration('map', default=your_map_path)
use_camera = LaunchConfiguration('use_camera', default='top')
neuron_app_bringup = GroupAction([
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(nb2_launch_dir, 'bringup_launch.py')),
launch_arguments={'use_camera':
use_camera}.items()),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(nb2nav_launch_dir, 'bringup_launch.py')),
launch_arguments={
'open_rviz': open_rviz,
'map': map_path
}.items()),
])
image_saver = Node(package='image_view',
executable='image_saver',
remappings=[('image', 'color/image_raw')],
parameters=[{
'save_all_image':
False,
'filename_format':
str(Path.home()) +
"/neuron_app_inspection/your_photo%04d.%s"
}],
output='screen')
ld = LaunchDescription()
ld.add_action(neuron_app_bringup)
ld.add_action(image_saver)
return ld
def generate_launch_description():
# Path
bt_xml_dir = os.path.join(get_package_share_directory('bt_ros2'), 'bt_xml')
# Parameters
bt_xml = LaunchConfiguration('bt_xml',
default=bt_xml_dir + '/bt_nav_mememan.xml')
behavior_tree = Node(package='bt_ros2',
executable='bt_ros2',
parameters=[{
'bt_xml': bt_xml
}],
output='screen')
ld = LaunchDescription()
ld.add_action(behavior_tree)
return ld
def test_launch_nodes_with_same_names(pytestconfig):
node1 = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node2 = LifecycleNode(
package='lifecycle',
node_executable='lifecycle_listener',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node3 = ComposableNodeContainer(
package='rclcpp_components',
node_executable='component_container',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_name=TEST_NODE_NAME
)
],
output='screen'
)
ld = LaunchDescription([node1, node2, node3])
context = _launch(ld)
captured = pytestconfig.pluginmanager.getplugin('capturemanager').read_global_capture()
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 3
expected_line = f'there are now at least 3 nodes with the name {TEST_NODE_NAMESPACE}' \
f'/{TEST_NODE_NAME} created within this launch context'
assert expected_line in captured.out
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 1
def test_launch_nodes_with_different_names():
node1 = Node(
package='demo_nodes_py',
executable='listener_qos',
node_name=f'{TEST_NODE_NAME}_1',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node2 = LifecycleNode(
package='lifecycle',
executable='lifecycle_listener',
node_name=f'{TEST_NODE_NAME}_2',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node3 = ComposableNodeContainer(
package='rclcpp_components',
executable='component_container',
node_name=f'{TEST_NODE_NAME}_3',
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_name=f'{TEST_NODE_NAME}_4',
)
],
output='screen')
ld = LaunchDescription([node1, node2, node3])
context = _launch(ld)
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_1') == 1
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_2') == 1
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_3') == 1
assert get_node_name_count(context, f'/{TEST_NODE_NAME}_4') == 1
def generate_launch_description():
# Path
gazebo_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_gazebo'), 'launch')
nb2slam_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_slam'), 'launch')
# Parameters
use_sim_time = LaunchConfiguration('use_sim_time', default='True')
open_rviz = LaunchConfiguration('open_rviz', default='True')
## mememan_world.model / phenix_world.model
world_model = LaunchConfiguration('world_model',
default='mememan_world.model')
neuron_app_bringup = GroupAction([
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(gazebo_launch_dir, 'neuronbot2_world.launch.py')),
launch_arguments={
'use_sim_time': use_sim_time,
'world_model': world_model
}.items()),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(nb2slam_launch_dir, 'gmapping_launch.py')),
launch_arguments={
'use_sim_time': use_sim_time,
'open_rviz': open_rviz
}.items()),
])
# Run mouse teleop
mouse_teleop = Node(package='mouse_teleop',
executable='mouse_teleop',
remappings=[('mouse_vel', 'cmd_vel')],
output='screen')
ld = LaunchDescription()
ld.add_action(neuron_app_bringup)
ld.add_action(mouse_teleop)
return ld
def generate_launch_description():
# Path
gazebo_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_gazebo'), 'launch')
nb2nav_launch_dir = os.path.join(
get_package_share_directory('neuronbot2_nav'), 'launch')
nb2nav_map_dir = os.path.join(
get_package_share_directory('neuronbot2_nav'), 'map')
# Parameters
use_sim_time = LaunchConfiguration('use_sim_time', default='True')
open_rviz = LaunchConfiguration('open_rviz', default='True')
## mememan_world.model / phenix_world.model
world_model = LaunchConfiguration('world_model',
default='mememan_world.model')
## mememan.yaml / phenix.yaml
map_path = LaunchConfiguration('map',
default=nb2nav_map_dir + '/mememan.yaml')
use_camera = LaunchConfiguration('use_camera', default='top')
gazebo_world_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(gazebo_launch_dir, 'neuronbot2_world.launch.py')),
launch_arguments={
'use_sim_time': use_sim_time,
'world_model': world_model,
'use_camera': use_camera
}.items())
navigation_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(nb2nav_launch_dir, 'bringup_launch.py')),
launch_arguments={
'use_sim_time':
use_sim_time,
'open_rviz': open_rviz,
'map': map_path
}.items())
delayed_launch = TimerAction(
actions=[navigation_launch],
period=8.0 # delay 8 sec to make sure gazebo is ready
)
image_saver = Node(package='image_view',
executable='image_saver',
remappings=[('image', 'camera_color_frame/image_raw')],
parameters=[{
'use_sim_time':
True,
'save_all_image':
False,
'filename_format':
str(Path.home()) +
"/neuron_app_inspection/your_photo%04d.%s"
}],
output='screen')
ld = LaunchDescription()
ld.add_action(gazebo_world_launch)
ld.add_action(delayed_launch)
ld.add_action(image_saver)
return ld