def main():
""" Main for spwaning turtlebot node """
# Get input arguments from user
argv = sys.argv[1:]
# Start node
rclpy.init()
node = rclpy.create_node(
"entity_spawner",
cli_args=[
# '--ros-args -r /tf:=/' + utils.get_robot_name('T') + '/tf'])
'--ros-args -r __ns=/T206 /tf:=tf'
])
node.get_logger().info(
'Creating Service client to connect to `/spawn_entity`')
client = node.create_client(SpawnEntity, "/spawn_entity")
node.get_logger().info("Connecting to `/spawn_entity` service...")
if not client.service_is_ready():
client.wait_for_service()
node.get_logger().info("...connected!")
# Get path to the turtlebot3 burgerbot
sdf_file_path = os.path.join(
get_package_share_directory("turtlebot3_gazebo"), "models",
"turtlebot3_burger", "model.sdf")
# Set data for request
request = SpawnEntity.Request()
request.name = utils.get_robot_name('T')
request.xml = open(sdf_file_path, 'r').read()
request.robot_namespace = utils.get_robot_name('T')
request.initial_pose.position.x = float(argv[0])
request.initial_pose.position.y = float(argv[1])
request.initial_pose.position.z = float(argv[2])
node.get_logger().info("Sending service request to `/spawn_entity`")
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
if future.result() is not None:
print('response: %r' % future.result())
else:
raise RuntimeError('exception while calling service: %r' %
future.exception())
node.get_logger().info("Done! Shutting down node.")
node.destroy_node()
rclpy.shutdown()
def generate_launch_description():
port = LaunchConfiguration('port', default='/dev/ttyUSB0')
frame_id = LaunchConfiguration('frame_id', default='laser')
robot_name = LaunchConfiguration('robot_name', default=utils.get_robot_name('robot'))
return LaunchDescription([
DeclareLaunchArgument(
'port',
default_value=port,
description='Specifying usb port to connected lidar'),
DeclareLaunchArgument(
'frame_id',
default_value=frame_id,
description='Specifying frame_id of lidar. Default frame_id is \'laser\''),
Node(
package='hls_lfcd_lds_driver',
executable='hlds_laser_publisher',
name='hlds_laser_publisher',
parameters=[{'port': port, 'frame_id': frame_id}],
output='both',
namespace=robot_name,
remappings=[("/tf", "tf"), ("/tf_static", "tf_static")]
),
])
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
urdf_file_name = 'turtlebot3_burger.urdf'
robot_name = LaunchConfiguration('robot_name',
default=utils.get_robot_name('robot'))
print("urdf_file_name : {}".format(urdf_file_name))
urdf = os.path.join(get_package_share_directory('turtlebot3_description'),
'urdf', urdf_file_name)
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
Node(package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}],
arguments=[urdf],
namespace=robot_name,
remappings=[("/tf", "tf"), ("/tf_static", "tf_static")]),
])
def generate_launch_description():
ip = launch_ros.actions.Node(
package='system_status',
executable='system_status',
output='both', # "screen", "log" or "both"
name='system_status',
)
robot = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[ThisLaunchFileDir(), '/robot.launch.py']), )
watchdog = launch_ros.actions.Node(
package='robot_spawner_pkg',
executable='watchdog',
namespace=utils.get_robot_name('robot'),
)
# Create the launch description and populate
ld = LaunchDescription()
ld.add_action(ip)
ld.add_action(robot)
ld.add_action(watchdog)
return ld
def edit_param_file_namespace(param_file_dir):
with open(param_file_dir, 'r') as f:
data = yaml.safe_load(f)
name = utils.get_robot_name('robot') + "':"
# for every robotXXX you find in the data, replace with the name
replaced = re.sub(r'robot[^\s]*', name, str(data))
# str->dict
replaced = ast.literal_eval(replaced)
with open(param_file_dir, 'w') as f:
yaml.dump(replaced, f)
def generate_launch_description():
default_param_dir = os.path.join(
get_package_share_directory('system_status'),
'param',
'burger.yaml'
)
tb3_param_dir = LaunchConfiguration(
'tb3_param_dir',
default=default_param_dir
)
# ATTENTION: this is editing the parameter file's content!
edit_param_file_namespace(default_param_dir)
usb_port = LaunchConfiguration('usb_port', default='/dev/ttyACM0')
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
robot_name = LaunchConfiguration('robot_name', default=utils.get_robot_name('robot'))
return LaunchDescription([
DeclareLaunchArgument(
'robot_name',
default_value=robot_name,
description='for the namespace of this robot'
),
DeclareLaunchArgument(
'use_sim_time',
default_value=use_sim_time,
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'usb_port',
default_value=usb_port,
description='Connected USB port with OpenCR'),
DeclareLaunchArgument(
'tb3_param_dir',
default_value=tb3_param_dir,
description='Full path to turtlebot3 parameter file to load'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[ThisLaunchFileDir(), '/turtlebot3_state_publisher.launch.py']
),
launch_arguments={'use_sim_time': use_sim_time}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[ThisLaunchFileDir(), '/hlds_laser.launch.py']
),
launch_arguments={'port': '/dev/ttyUSB0',
'frame_id': 'base_scan', 'namespace': 'robot_name'}.items(),
),
Node(
package='turtlebot3_node',
executable='turtlebot3_ros',
parameters=[tb3_param_dir],
arguments=['-i', usb_port],
output='both',
namespace=robot_name,
remappings=[("/tf", "tf"), ("/tf_static", "tf_static")]
),
])