def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('namespace', default_value='bluerov2')
sl.declare_arg('use_ned_frame',default_value=False)
sl.declare_arg('gazebo',default_value=False)
sl.declare_arg('debug', default_value=0)
sl.declare_gazebo_axes()
namespace=sl.arg('namespace')
# Request sim time value to the global node
with sl.group(ns=namespace):
# xacro parsing + change moving joints to fixed / no Gazebo here
frame = sl.py_eval_str("'world_ned' if ", sl.arg('use_ned_frame'), " else 'world'")
xacro_args = {'namespace': namespace, 'inertial_reference_frame': frame, 'gazebo_use': sl.arg('gazebo'), 'debug': sl.arg('debug')}
sl.robot_state_publisher('bluerov2_description', 'bluerov2_default.xacro', xacro_args=xacro_args)
#description = sl.robot_description('bluerov2_description', 'bluerov2_default.xacro', xacro_args=xacro_args)
#description_fixed = sl.name_join("'",Command(sl.name_join(['ros2 run bluerov2_control to_fixed_joints.py',
#' -d ', description,
#' --keep_moving ', 'tilt'])),"'")
#sl.node('robot_state_publisher', 'robot_state_publisher', parameters={'robot_description': description})
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
#sl.include('gazebo_ros', 'gazebo.launch.py',
#launch_arguments={'gui': 'True','headless': 'False'})
for robot in ['turtlebot1']:
with sl.group(ns=robot):
sl.robot_state_publisher(
'turtlebot3_description',
'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf.xacro',
xacro_args={'prefix': sl.name_join(robot, '/')}
#parameters={'frame_prefix': robot + '/'},gz_plugins=True
)
spawn_args = [
'-topic', 'robot_description', '-entity', robot,
'-robot_namespace', robot
]
sl.node('gazebo_ros', 'spawn_entity.py', arguments=spawn_args)
return sl.launch_description()
def generate_launch_description():
'''
Run the given nodes in the robot's namespace
'''
sl = SimpleLauncher()
sl.declare_arg('robot',default_value='turtlebot1')
with sl.group(ns=sl.arg('robot')):
configured_params = RewrittenYaml(
source_file=sl.find('nav_tutorial', 'xbox.yaml'),
root_key=sl.arg('robot'),
convert_types=True,
param_rewrites={})
sl.node('joy','joy_node',
parameters=[{
'dev': '/dev/input/js0',
'deadzone': 0.3,
'autorepeat_rate': 20.0,
}])
sl.node('teleop_twist_joy', 'teleop_node', name='teleop_twist_joy_node', parameters=[configured_params])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('name', 'right_e0')
sl.node('slider_publisher', 'slider_publisher', name = sl.arg('name'), arguments = [sl.find('move_joint', 'single_joint.yaml')])
#sl.node('move_joint', 'move_joint', parameters = {'joint_name': 'right_e0'}, remappings = {'joint_setpoint': 'setpoint'}.items())
sl.node('move_joint', 'move_joint', parameters = {'joint_name': sl.arg('name')}, remappings = {'joint_setpoint': 'setpoint'}.items())
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.robot_state_publisher('baxter_description', 'baxter.urdf.xacro')
sl.node('bridge_manager', 'static_bridge_joint_states')
sl.node('bridge_manager', 'static_bridge_left_joint_command')
sl.node('bridge_manager', 'static_bridge_right_joint_command')
rviz_config = sl.find('bridge_manager', 'baxter_sim_config.rviz',
'launch/')
sl.node('rviz2', 'rviz2', arguments=['-d', rviz_config])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('gui', default_value=True)
sl.declare_arg('spawn', default_value=True)
sl.include('uuv_gazebo_worlds','auv_underwater_world.launch', launch_arguments={'gui': sl.arg('gui')})
with sl.group(if_arg='spawn'):
sl.include('bluerov2_description', 'upload_bluerov2_launch.py')
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('map', default_value=sl.find('nav_tutorial', 'batS.yaml'))
sl.declare_arg('map_server', default_value=True)
sl.include('map_simulator',
'simulation2d_launch.py',
launch_arguments=sl.arg_map(['map', 'map_server']).items())
# run RViz2
rviz_config_file = sl.find('nav_tutorial', 'config.rviz')
sl.node('rviz2', 'rviz2', output='log', arguments=['-d', rviz_config_file])
return sl.launch_description()
def generate_launch_description():
'''
Example of AMCL (pure localization) for BB8
'''
sl = SimpleLauncher()
robot = 'bb8'
with sl.group(ns=robot):
sl.node('lab4_navigation',
'vel2joints.py',
parameters=[{
'static_tf': False
}])
# generate description
sl.robot_state_publisher('lab4_navigation',
'bb.xacro',
'urdf',
xacro_args={'name': robot})
# fire up slider publisher for cmd_vel
cmd_file = sl.find('lab4_navigation', 'cmd_sliders.yaml')
sl.node('slider_publisher',
'slider_publisher',
name='cmd_vel_manual',
arguments=[cmd_file])
# launch AMCL node with remappings
sl.node('nav2_amcl',
'amcl',
name='amcl',
parameters=[sl.find('lab4_navigation', 'amcl_param.yaml')],
arguments='--ros-args --log-level warn')
# run lifecycle manager just for AMCL
sl.node('nav2_lifecycle_manager',
'lifecycle_manager',
name='lifecycle_manager',
output='screen',
parameters=[{
'autostart': True,
'node_names': ['amcl']
}])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('namespace', default_value='bluerov2')
sl.declare_arg('use_ned_frame', default_value=False)
sl.declare_arg('debug', default_value=0)
sl.declare_arg('ground_truth', default_value=True)
sl.declare_gazebo_axes()
namespace = sl.arg('namespace')
# Request sim time value to the global node
#res = is_sim_time(return_param=False, use_subprocess=True)
res = True
# robot state publicher
sl.include('bluerov2_description',
'state_publisher_launch.py',
launch_arguments={
'namespace': sl.arg('namespace'),
'use_ned_frame': sl.arg('use_ned_frame'),
'gazebo': 'true',
'debug': sl.arg('debug')
})
with sl.group(ns=namespace):
# URDF spawner
description_topic = sl.py_eval("'/' + '", namespace,
"' + '/robot_description'")
spawn_args = [
'-gazebo_namespace', '/gazebo', '-topic', description_topic,
'-entity', namespace
]
spawn_args += sl.gazebo_axes_args()
sl.node('gazebo_ros',
'spawn_entity.py',
parameters={'use_sim_time': res},
arguments=spawn_args)
# ground truth to tf if needed
with sl.group(if_arg='ground_truth'):
sl.node('odom_to_tf',
'odom_to_tf',
parameters={'odom_topic': 'pose_gt'})
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
# load descriptions
for robot in ('r2d2', 'bb8', 'd0'):
with sl.group(ns=robot):
sl.robot_state_publisher('ros2_2020', robot + '.xacro')
# run Python simulation
sl.node('ros2_2020', 'simulation.py', output='screen')
# run RViz2
rviz_config_file = sl.find('ros2_2020', 'config.rviz')
sl.node('rviz2', 'rviz2', output='log', arguments=['-d', rviz_config_file])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
joint_name = [
'right_e0', 'left_e0', 'right_e1', 'left_e1', 'right_s0', 'left_s0',
'right_s1', 'left_s1', 'right_w0', 'left_w0', 'right_w1', 'left_w1',
'right_w2', 'left_w2'
]
for joint in joint_name:
with sl.group(ns=joint):
sl.include('move_joint',
'slider_launch.py',
launch_arguments=[('name', joint)])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
x = '0'
y = '0'
z = '0.1'
yaw = '0'
pitch = '3.14'
roll = '0'
sl.include('baxter_description', 'baxter_state_publisher_launch.py')
sl.node('tf2_ros',
'static_transform_publisher',
arguments=[
x, y, z, yaw, pitch, roll, 'right_gripper',
'left_gripper_desired'
])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('namespace', default_value='bluerov2')
sl.declare_arg('gazebo',default_value=False)
parameters = {'use_sim_time': sl.arg('gazebo')}
with sl.group(ns=sl.arg('namespace')):
# load joint (camera tilt) controller only if needed
with sl.group(if_arg='gazebo'):
tilt_params = sl.find('bluerov2_control','tilt_control.yaml')
sl.node('iauv_control', 'joint_gz_pid',parameters = [tilt_params])
# load body controller anyway
sl.node('iauv_control', 'body_pid', parameters = parameters)
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('map', default_value=sl.find('nav_tutorial', 'batS.yaml'))
sl.declare_arg('perfect_loc', default_value=False)
sl.include('map_simulator', 'simulation2d_launch.py', launch_arguments= sl.arg_map(['map']))
sl.declare_arg('name', 'turtlebot1')
robot = sl.arg('name')
with sl.group(ns=robot):
sl.robot_state_publisher('turtlebot3_description','turtlebot3_' + TURTLEBOT3_MODEL + '.urdf.xacro',
xacro_args={'prefix': sl.name_join(sl.arg('name'), '/')})
sl.node('map_simulator', 'spawn', parameters = [{'zero_joints': True, 'static_tf_odom': sl.arg('perfect_loc'), 'radius': .2, 'robot_color': [50,50,50], 'laser_color': [0,255,0]}])
return sl.launch_description()
def generate_launch_description():
sl = SimpleLauncher()
sl.declare_arg('name', 'turtlebot1')
sl.declare_arg('use_sim_time', False)
sl.declare_arg('rviz', True)
sl.declare_arg('use_nav', False)
sl.declare_arg('map', sl.find('nav_tutorial', 'batS.yaml'))
sl.declare_arg(
'map_server',
default_value=True,
description='Whether run a map server (will be in the global namespace'
)
robot = sl.arg('name')
with sl.group(if_arg='rviz'):
this_dir = os.path.dirname(__file__)
sl.node('rviz2',
'rviz2',
arguments=[
'-d',
sl.path_join(this_dir, sl.name_join(robot, '.rviz'))
])
with sl.group(if_arg='map_server'):
sl.node('nav2_map_server',
'map_server',
name='map_server',
parameters={'yaml_filename': sl.arg('map')})
sl.node('nav2_lifecycle_manager',
'lifecycle_manager',
name='map_server_manager',
output='screen',
parameters={
'autostart': True,
'node_names': ['map_server']
})
def configure(rewrites):
rewrites.update({'use_sim_time': sl.arg('use_sim_time')})
return RewrittenYaml(
#source_file=sl.find('nav2_bringup', 'nav2_params.yaml'),
source_file=sl.find('nav_tutorial', 'nav_param.yaml'),
root_key=robot,
param_rewrites=rewrites,
convert_types=True)
remappings = {'map': '/map', '/scan': 'scan'}
with sl.group(ns=robot):
# start amcl anyway
rewrites = {
'base_frame_id': sl.name_join(robot, '/base_link'),
'odom_frame_id': sl.name_join(robot, '/odom'),
'map_topic': '/map'
}
sl.node('nav2_amcl',
'amcl',
parameters=[configure(rewrites)] + [{
'set_initial_pose': True
}],
remappings=remappings)
sl.node('nav2_lifecycle_manager',
'lifecycle_manager',
name='amcl_manager',
output='screen',
parameters=[{
'autostart': True,
'node_names': ['amcl']
}])
# start nav stack only if autonomous nav
with sl.group(if_arg='use_nav'):
nav_nodes = [
('nav2_controller', 'controller_server'),
('nav2_planner', 'planner_server'),
('nav2_recoveries', 'recoveries_server'),
('nav2_bt_navigator', 'bt_navigator'),
]
rewrites = {
'robot_base_frame':
sl.name_join(robot, '/base_link'),
'base_frame_id':
sl.name_join(robot, '/base_link'),
'default_bt_xml_filename':
sl.find('nav2_bt_navigator', 'navigate_w_replanning_time.xml'),
'map_topic':
'/map',
'topic':
sl.name_join('/', robot, '/scan'),
'global_frame':
sl.name_join(robot, '/odom')
}
configured_params = configure(rewrites)
lifecycle_nodes = []
for pkg, executable in nav_nodes:
sl.node(pkg,
executable,
name=executable,
parameters=[configured_params],
remappings=remappings)
lifecycle_nodes.append(executable)
sl.node('nav2_lifecycle_manager',
'lifecycle_manager',
name='nav_manager',
output='screen',
parameters=[{
'autostart': True,
'node_names': lifecycle_nodes
}])
with sl.group(unless_arg='use_nav'):
sl.node('slider_publisher',
'slider_publisher',
arguments=[sl.find('nav_tutorial', 'cmd_sliders.yaml')])
return sl.launch_description()
def generate_launch_description():
'''
Example of AMCL (pure localization) for BB8
'''
sl = SimpleLauncher()
sl.declare_arg('robot', 'bb8')
robot = sl.arg('robot')
robot_type = sl.py_eval("''.join(c for c in '", robot,
"' if not c.isdigit())")
sl.declare_arg('use_nav', False)
use_nav = sl.arg('use_nav')
nav_nodes = [('nav2_controller', 'controller_server'),
('nav2_planner', 'planner_server'),
('nav2_bt_navigator', 'bt_navigator')]
node_names = []
print(robot.describe())
with sl.group(ns=robot):
sl.node('lab4_navigation',
'vel2joints.py',
parameters=[{
'static_tf': True
}])
# generate description
sl.robot_state_publisher('lab4_navigation',
sl.name_join(robot_type, '.xacro'),
'urdf',
xacro_args={'name': robot})
with sl.group(unless_arg='use_nav'):
# fire up slider publisher for cmd_vel
cmd_file = sl.find('lab4_navigation', 'cmd_sliders.yaml')
sl.node('slider_publisher',
'slider_publisher',
name='cmd_vel_manual',
arguments=[cmd_file])
with sl.group(if_arg='use_nav'):
# launch navigation nodes with remappings
for pkg, executable in nav_nodes:
robot_rad = sl.py_eval("'", robot_type,
"'=='bb'and .27 or .16")
configured_params = RewrittenYaml(
source_file=sl.find('lab4_navigation', 'nav_param.yaml'),
root_key=robot,
param_rewrites={
'robot_base_frame':
sl.py_eval("''.join(c for c in '", robot,
"') + '/base_link'"),
'global_frame':
sl.py_eval("''.join(c for c in '", robot,
"') + '/odom'"),
'topic':
sl.py_eval("'/' + ''.join(c for c in '", robot,
"') + '/scan'"),
'robot_radius':
robot_rad,
'default_bt_xml_filename':
sl.find('nav2_bt_navigator',
'navigate_w_replanning_time.xml')
},
convert_types=True)
sl.node(
pkg,
executable,
name=executable,
parameters=[configured_params],
)
node_names.append(executable)
# run lifecycle manager just for navigation nodes
sl.node('nav2_lifecycle_manager',
'lifecycle_manager',
name='lifecycle_manager',
output='screen',
parameters=[{
'autostart': True,
'node_names': node_names
}])
return sl.launch_description()