def generate_launch_description():
# Get the launch directory
pkg_dir = get_package_share_directory('go_get_it')
nav_dir = get_package_share_directory('gb_navigation')
manipulation_dir = get_package_share_directory('gb_manipulation')
gb_world_model_dir = get_package_share_directory('gb_world_model')
world_config_dir = os.path.join(gb_world_model_dir, 'config')
namespace = LaunchConfiguration('namespace')
dope_params_file = LaunchConfiguration('dope_params_file')
declare_dope_params_cmd = DeclareLaunchArgument(
'dope_params_file',
default_value=os.path.join(get_package_share_directory('dope_launch'), 'config', 'config_pose.yaml'),
description='Full path to the TF Pose Estimation parameters file to use')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Namespace')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
gb_manipulation_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('gb_manipulation'),
'launch',
'gb_manipulation_launch.py')))
gb_navigation_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('gb_navigation'),
'launch',
'nav2_tiago_launch.py')))
plansys2_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('plansys2_bringup'),
'launch',
'plansys2_bringup_launch_monolithic.py')),
launch_arguments={'model_file': pkg_dir + '/pddl/domain.pddl:' +
nav_dir + '/pddl/domain.pddl'
}.items()
)
dope_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('dope_launch'),
'launch',
'dope_launch.py')),
launch_arguments={'dope_params_file': dope_params_file}.items()
)
# Specify the actions
go_get_it_executor_cmd = LifecycleNode(
package='go_get_it',
executable='gogetit_executor_node',
name='gogetit_executor_node')
emit_event_to_request_that_go_get_it_executor_configure_transition = EmitEvent(
event=ChangeState(
lifecycle_node_matcher=launch.events.matches_action(go_get_it_executor_cmd),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
)
)
emit_event_to_request_that_go_get_it_executor_activate_transition = EmitEvent(
event=ChangeState(
lifecycle_node_matcher=launch.events.matches_action(go_get_it_executor_cmd),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE,
)
)
on_configure_go_get_it_executor_handler = RegisterEventHandler(
OnStateTransition(
target_lifecycle_node=go_get_it_executor_cmd, goal_state='inactive',
entities=[emit_event_to_request_that_go_get_it_executor_activate_transition]))
# Specify the dependencies
vision_cmd = LifecycleNode(
package='clean_up',
executable='vision_sim_node',
name='vision')
emit_event_to_request_that_vision_configure_transition = EmitEvent(
event=ChangeState(
lifecycle_node_matcher=launch.events.matches_action(vision_cmd),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
)
)
attention_manager_cmd = Node(
package='gb_attention',
executable='attention_server',
output='screen')
wm_cmd = Node(
package='gb_world_model',
executable='world_model_main',
output='screen',
parameters=[
world_config_dir + '/world.yml'
])
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_dope_params_cmd)
# Declare the launch options
# Event handlers
ld.add_action(on_configure_go_get_it_executor_handler)
ld.add_action(gb_manipulation_cmd)
ld.add_action(gb_navigation_cmd)
ld.add_action(plansys2_cmd)
ld.add_action(go_get_it_executor_cmd)
ld.add_action(vision_cmd)
ld.add_action(emit_event_to_request_that_vision_configure_transition)
ld.add_action(emit_event_to_request_that_go_get_it_executor_configure_transition)
ld.add_action(attention_manager_cmd)
ld.add_action(wm_cmd)
ld.add_action(dope_cmd)
return ld
def generate_launch_description():
map_yaml_file = os.getenv('TEST_MAP')
filter_mask_file = os.getenv('TEST_MASK')
world = os.getenv('TEST_WORLD')
bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'),
'behavior_trees',
os.getenv('BT_NAVIGATOR_XML'))
bringup_dir = get_package_share_directory('nav2_bringup')
script_dir = os.path.dirname(os.path.realpath(__file__))
params_file = os.path.join(script_dir, 'keepout_params.yaml')
# Replace the `use_astar` setting on the params file
param_substitutions = {
'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'),
'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file,
'yaml_filename': filter_mask_file}
configured_params = RewrittenYaml(
source_file=params_file,
root_key='',
param_rewrites=param_substitutions,
convert_types=True)
context = LaunchContext()
new_yaml = configured_params.perform(context)
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
# Launch gazebo server for simulation
ExecuteProcess(
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
'--minimal_comms', world],
output='screen'),
# TODO(orduno) Launch the robot state publisher instead
# using a local copy of TB3 urdf file
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_filters',
output='screen',
parameters=[{'node_names': ['filter_mask_server', 'costmap_filter_info_server']},
{'autostart': True}]),
# Nodes required for Costmap Filters configuration
Node(
package='nav2_map_server',
executable='map_server',
name='filter_mask_server',
output='screen',
parameters=[new_yaml]),
Node(
package='nav2_map_server',
executable='costmap_filter_info_server',
name='costmap_filter_info_server',
output='screen',
parameters=[new_yaml]),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': new_yaml,
'bt_xml_file': bt_navigator_xml,
'autostart': 'True'}.items()),
])
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
parameters=[{
'queue_size':20,
'frame_id':'camera_link_d435',
'use_sim_time':use_sim_time,
'subscribe_depth':True}]
remappings=[
('odom', 'rs_t265/odom'),
('rgb/image', '/rs_d435/image_raw'),
('rgb/camera_info', 'rs_d435/image_raw/camera_info'),
('depth/image', '/rs_d435/aligned_depth/image_raw')]
return LaunchDescription([
# Node(
# package='realsense_ros2',
# node_executable='rs_t265_node',
# node_name='rs_t265',
# output='screen'
# ),
# Node(
# package='realsense_ros2',
# node_executable='rs_d435_node',
# node_name='rs_d435',
# output='screen',
# parameters=[
# {"publish_depth": True},
# {"publish_pointcloud": False},
# {"is_color": False},
# {"publish_image_raw_": True},
# {"fps": 15} # Can only take values of 6,15,30 or 60
# ]
# ),
# Node(
# ## Configure the TF of the robot to the origin of the map coordinates
# package='tf2_ros',
# node_executable='static_transform_publisher',
# output='screen',
# arguments=['0.0', '0.025', '0.03', '-1.5708', '0.0', '-1.5708', 'camera_link_t265', 'camera_link_d435']
# ),
# Node(
# ## Configure the TF of the robot to the origin of the map coordinates
# package='tf2_ros',
# node_executable='static_transform_publisher',
# output='screen',
# arguments=['0.0', '0.025', '0.03', '0.0', '0.0', '0.0', 'camera_link_t265', 'camera_link_d435b']
# ),
# Node(
# ## Configure the TF of the robot to the origin of the map coordinates
# package='tf2_ros',
# node_executable='static_transform_publisher',
# output='screen',
# arguments=['-0.15', '0.0', '0.0', '0.0', '0.0', '0.0', 'camera_link_t265', 'base_link']
# ),
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Launch arguments
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
# Nodes to launch
Node(
package='rtabmap_ros', node_executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
# Node(
# package='rtabmap_ros', node_executable='rtabmapviz', output='screen',
# parameters=parameters,
# remappings=remappings),
])
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
lifecycle_nodes = ['controller_server',
'planner_server',
'recoveries_server',
'bt_navigator',
'waypoint_follower']
# 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
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'bt_xml_filename': bt_xml_file,
'autostart': autostart,
'map_subscribe_transient_local': map_subscribe_transient_local}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'bt_xml_file',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'map_subscribe_transient_local', default_value='false',
description='Whether to set the map subscriber QoS to transient local'),
Node(
package='nav2_controller',
executable='controller_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_recoveries',
executable='recoveries_server',
name='recoveries_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_waypoint_follower',
executable='waypoint_follower',
name='waypoint_follower',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
])
def test_set_and_unset_environment_variable_constructors():
"""Test the constructor for SetEnvironmentVariable and UnsetEnvironmentVariable classes."""
SetEnvironmentVariable('name', 'value')
UnsetEnvironmentVariable('name')
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
launch_dir = os.path.join(bringup_dir, 'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
autostart = LaunchConfiguration('autostart')
use_remappings = LaunchConfiguration('use_remappings')
# TODO(orduno) Remove once `PushNodeRemapping` is resolved
# https://github.com/ros2/launch_ros/issues/56
remappings = [((namespace, '/tf'), '/tf'),
((namespace, '/tf_static'), '/tf_static'), ('/scan', 'scan'),
('/tf', 'tf'), ('/tf_static', 'tf_static'),
('/cmd_vel', 'cmd_vel'), ('/map', 'map')]
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', default_value='', description='Top-level namespace')
# Declare the launch arguments
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',
description='Use simulation (Gazebo) clock if true')
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_bt_xml_cmd = DeclareLaunchArgument(
'bt_xml_file',
default_value=os.path.join(get_package_prefix('nav2_bt_navigator'),
'behavior_trees',
'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack')
declare_use_remappings_cmd = DeclareLaunchArgument(
'use_remappings',
default_value='false',
description='Arguments to pass to all nodes launched by the file')
# Specify the actions
start_localization_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_dir, 'nav2_localization_launch.py')),
launch_arguments={
'namespace': namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'use_lifecycle_mgr': 'false',
'use_remappings': use_remappings
}.items())
start_navigation_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_dir, 'nav2_navigation_launch.py')),
launch_arguments={
'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'bt_xml_file': bt_xml_file,
'use_lifecycle_mgr': 'false',
'use_remappings': use_remappings,
'map_subscribe_transient_local': 'true'
}.items())
start_lifecycle_manager_cmd = Node(package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
node_name='lifecycle_manager',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}, {
'autostart': autostart
}, {
'node_names': [
'map_server', 'amcl',
'controller_server',
'planner_server',
'recoveries_server',
'bt_navigator'
]
}])
# 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_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_bt_xml_cmd)
ld.add_action(declare_use_remappings_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(start_lifecycle_manager_cmd)
ld.add_action(start_localization_cmd)
ld.add_action(start_navigation_cmd)
return ld
def generate_launch_description():
# Get the launch directory
example_dir = get_package_share_directory('plansys2_simple_example')
namespace = LaunchConfiguration('namespace')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Namespace')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
plansys2_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('plansys2_bringup'),
'launch',
'plansys2_bringup_launch_monolithic.py')),
launch_arguments={
'model_file': example_dir + '/pddl/simple_example.pddl',
'namespace': namespace
}.items())
# Specify the actions
move_cmd = Node(
package='plansys2_simple_example',
executable='move_action_node',
name='move_action_node',
namespace=namespace,
output='screen',
parameters=[])
charge_cmd = Node(
package='plansys2_simple_example',
executable='charge_action_node',
name='charge_action_node',
namespace=namespace,
output='screen',
parameters=[])
ask_charge_cmd = Node(
package='plansys2_simple_example',
executable='ask_charge_action_node',
name='ask_charge_action_node',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_namespace_cmd)
# Declare the launch options
ld.add_action(plansys2_cmd)
ld.add_action(move_cmd)
ld.add_action(charge_cmd)
ld.add_action(ask_charge_cmd)
return ld
def generate_launch_description():
# Get the launch directory
example_dir = get_package_share_directory('plansys_multirobot')
namespace = LaunchConfiguration('namespace')
declare_namespace_cmd = DeclareLaunchArgument('namespace',
default_value='',
description='Namespace')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
plansys2_cmd = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_bringup'), 'launch',
'plansys2_bringup_launch_monolithic.py')),
launch_arguments={
'model_file': example_dir +
'/pddl/multirobot.pddl',
'namespace': namespace
}.items())
# Specify the actions
move_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='move_1',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'move',
'publisher_port':
1668,
'server_port':
1669,
'bt_xml_file':
example_dir + '/behavior_trees_xml/move.xml'
}
])
move_2_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='move_2',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'move',
'publisher_port':
1670,
'server_port':
1671,
'bt_xml_file':
example_dir + '/behavior_trees_xml/move.xml'
}
])
move_3_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='move_3',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'move',
'publisher_port':
1672,
'server_port':
1673,
'bt_xml_file':
example_dir + '/behavior_trees_xml/move.xml'
}
])
transport_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='transport_1',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'transport',
'publisher_port':
1674,
'server_port':
1675,
'bt_xml_file':
example_dir +
'/behavior_trees_xml/transport.xml'
}
])
transport_2_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='transport_2',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'transport',
'publisher_port':
1676,
'server_port':
1677,
'bt_xml_file':
example_dir +
'/behavior_trees_xml/transport.xml'
}
])
transport_3_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='transport_3',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'transport',
'publisher_port':
1678,
'server_port':
1679,
'bt_xml_file':
example_dir +
'/behavior_trees_xml/transport.xml'
}
])
lift_1_cmd = Node(
package='plansys_multirobot',
executable='lift_action_node',
name='lift_1',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
lift_2_cmd = Node(
package='plansys_multirobot',
executable='lift_action_node',
name='lift_2',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
lift_3_cmd = Node(package='plansys_multirobot',
executable='lift_action_node',
name='lift_3',
namespace=namespace,
output='screen',
parameters=[])
drop_1_cmd = Node(
package='plansys_multirobot',
executable='drop_action_node',
name='drop_1',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
drop_2_cmd = Node(
package='plansys_multirobot',
executable='drop_action_node',
name='drop_2',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
drop_3_cmd = Node(package='plansys_multirobot',
executable='drop_action_node',
name='drop_3',
namespace=namespace,
output='screen',
parameters=[])
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_namespace_cmd)
# Declare the launch options
ld.add_action(plansys2_cmd)
ld.add_action(move_1_cmd)
ld.add_action(move_2_cmd)
ld.add_action(move_3_cmd)
ld.add_action(transport_1_cmd)
ld.add_action(transport_2_cmd)
ld.add_action(transport_3_cmd)
ld.add_action(lift_1_cmd)
ld.add_action(lift_2_cmd)
ld.add_action(lift_3_cmd)
ld.add_action(drop_1_cmd)
ld.add_action(drop_2_cmd)
ld.add_action(drop_3_cmd)
return ld
def generate_launch_description():
bringup_dir = get_package_share_directory('plansys2_bringup')
# Create the launch configuration variables
model_file = LaunchConfiguration('model_file')
namespace = LaunchConfiguration('namespace')
params_file = LaunchConfiguration('params_file')
default_action_bt_xml_filename = LaunchConfiguration(
'default_action_bt_xml_filename')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
declare_model_file_cmd = DeclareLaunchArgument(
'model_file', description='PDDL Model file')
declare_namespace_cmd = DeclareLaunchArgument('namespace',
default_value='',
description='Namespace')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params',
'plansys2_params.yaml'),
description=
'Full path to the ROS2 parameters file to use for all launched nodes')
declare_default_bt_file_cmd = DeclareLaunchArgument(
'default_action_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('plansys2_executor'), 'behavior_trees',
'plansys2_action_bt.xml'),
description='BT representing a PDDL action')
domain_expert_cmd = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_domain_expert'),
'launch', 'domain_expert_launch.py')),
launch_arguments={
'model_file': model_file,
'namespace': namespace,
'params_file': params_file
}.items())
problem_expert_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
get_package_share_directory('plansys2_problem_expert'),
'launch', 'problem_expert_launch.py')),
launch_arguments={
'model_file': model_file,
'namespace': namespace,
'params_file': params_file
}.items())
planner_cmd = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_planner'), 'launch',
'planner_launch.py')),
launch_arguments={
'namespace': namespace,
'params_file': params_file
}.items())
executor_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_executor'),
'launch', 'executor_launch.py')),
launch_arguments={
'namespace': namespace,
'params_file': params_file,
'default_action_bt_xml_filename': default_action_bt_xml_filename
}.items())
lifecycle_manager_cmd = Node(package='plansys2_lifecycle_manager',
executable='lifecycle_manager_node',
node_name='lifecycle_manager_node',
namespace=namespace,
output='screen',
parameters=[])
# Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_model_file_cmd)
ld.add_action(declare_default_bt_file_cmd)
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_params_file_cmd)
# Declare the launch options
ld.add_action(domain_expert_cmd)
ld.add_action(problem_expert_cmd)
ld.add_action(planner_cmd)
ld.add_action(executor_cmd)
ld.add_action(lifecycle_manager_cmd)
return ld
def generate_launch_description():
# Get the launch directory
example_dir = get_package_share_directory('amazon_robot_bt')
namespace = LaunchConfiguration('namespace')
declare_namespace_cmd = DeclareLaunchArgument('namespace',
default_value='',
description='Namespace')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
lifecycle_nodes = ['move']
# plansys2_cmd = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(os.path.join(
# get_package_share_directory('amazon_robot_bringup'),
# 'launch',
# 'plansys2_bringup_launch_monolithic.py')),
# launch_arguments={
# 'model_file': example_dir + '/pddl/bt_example.pddl',
# 'namespace': namespace
# }.items())
# Specify the actions
move_cmd = Node(package='nav2_bt_navigator',
executable='bt_navigator',
name='move',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'move',
'bt_xml_file':
example_dir + '/behavior_trees_xml/move.xml'
}
])
nav2_cmd = Node(package='amazon_robot_bt',
executable='nav2_sim_node',
name='nav2_node',
namespace=namespace,
output='screen')
# transport_cmd = Node(
# package='plansys2_bt_actions',
# executable='bt_action_node',
# name='transport',
# namespace=namespace,
# output='screen',
# parameters=[
# example_dir + '/config/params.yaml',
# {
# 'action_name': 'transport',
# 'bt_xml_file': example_dir + '/behavior_trees_xml/transport.xml'
# }
# ])
lifecycle_node_cmd = Node(package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{
'use_sim_time': True
}, {
'autostart': True
}, {
'node_names': lifecycle_nodes
}])
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_namespace_cmd)
# Declare the launch options
# ld.add_action(plansys2_cmd)
ld.add_action(move_cmd)
ld.add_action(nav2_cmd)
ld.add_action(lifecycle_node_cmd)
# ld.add_action(transport_cmd)
# ld.add_action(assemble_cmd)
return ld
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('robot_slam')
namespace = LaunchConfiguration('namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
lifecycle_nodes = ['map_server', 'amcl']
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static'),
('scan', 'base_scan')]
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps', 'map.yaml'),
description='Full path to map yaml file to load'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
])
def generate_launch_description():
# Create the launch configuration variables
model_file = LaunchConfiguration('model_file')
namespace = LaunchConfiguration('namespace')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
declare_model_file_cmd = DeclareLaunchArgument(
'model_file', description='PDDL Model file')
declare_namespace_cmd = DeclareLaunchArgument('namespace',
default_value='',
description='Namespace')
domain_expert_cmd = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_domain_expert'),
'launch', 'domain_expert_launch.py')),
launch_arguments={
'model_file': model_file,
'namespace': namespace
}.items())
problem_expert_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
get_package_share_directory('plansys2_problem_expert'),
'launch', 'problem_expert_launch.py')),
launch_arguments={
'model_file': model_file,
'namespace': namespace
}.items())
planner_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_planner'),
'launch', 'planner_launch.py')),
launch_arguments={'namespace': namespace}.items())
executor_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_executor'),
'launch', 'executor_launch.py')),
launch_arguments={'namespace': namespace}.items())
lifecycle_manager_cmd = Node(package='plansys2_lifecycle_manager',
node_executable='lifecycle_manager_node',
node_name='lifecycle_manager_node',
node_namespace=namespace,
output='screen',
parameters=[])
# Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_model_file_cmd)
ld.add_action(declare_namespace_cmd)
# Declare the launch options
ld.add_action(domain_expert_cmd)
ld.add_action(problem_expert_cmd)
ld.add_action(planner_cmd)
ld.add_action(executor_cmd)
ld.add_action(lifecycle_manager_cmd)
return ld
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('mammoth_gazebo')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('config')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
map_subscribe_transient_local = LaunchConfiguration(
'map_subscribe_transient_local')
lifecycle_nodes = [
'controller_server', 'planner_server', 'recoveries_server',
'bt_navigator', 'waypoint_follower'
]
remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static'),
('/cmd_vel', '/nav_vel')]
param_substitutions = {
'use_sim_time': use_sim_time,
'default_bt_xml_filename': default_bt_xml_filename,
'autostart': autostart,
'map_subscribe_transient_local': map_subscribe_transient_local
}
configured_params = RewrittenYaml(source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
DeclareLaunchArgument('namespace',
default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'config',
default_value=os.path.join(bringup_dir, 'config/navigation',
'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'map_subscribe_transient_local',
default_value='false',
description=
'Whether to set the map subscriber QoS to transient local'),
Node(package='nav2_controller',
executable='controller_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_recoveries',
executable='recoveries_server',
name='recoveries_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_waypoint_follower',
executable='waypoint_follower',
name='waypoint_follower',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}, {
'autostart': autostart
}, {
'node_names': lifecycle_nodes
}]),
])
def generate_launch_description():
namespace = LaunchConfiguration('namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
use_remappings = LaunchConfiguration('use_remappings')
# TODO(orduno) Remove once `PushNodeRemapping` is resolved
# https://github.com/ros2/launch_ros/issues/56
remappings = [((namespace, '/tf'), '/tf'),
((namespace, '/tf_static'), '/tf_static'),
('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
DeclareLaunchArgument(
'namespace',
default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'map',
description='Full path to map yaml file to load'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'params_file',
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'use_remappings',
default_value='false',
description='Arguments to pass to all nodes launched by the file'),
Node(
package='nav2_map_server',
node_executable='map_server',
node_name='map_server',
output='screen',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
package='nav2_amcl',
node_executable='amcl',
node_name='amcl',
output='screen',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings),
])
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
use_lifecycle_mgr = LaunchConfiguration('use_lifecycle_mgr')
use_remappings = LaunchConfiguration('use_remappings')
map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
# TODO(orduno) Remove once `PushNodeRemapping` is resolved
# https://github.com/ros2/launch_ros/issues/56
remappings = [((namespace, '/tf'), '/tf'),
((namespace, '/tf_static'), '/tf_static'),
('/scan', 'scan'),
('/tf', 'tf'),
('/tf_static', 'tf_static'),
('/cmd_vel', 'cmd_vel'),
('/map', 'map'),
('/goal_pose', 'goal_pose')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'bt_xml_filename': bt_xml_file,
'autostart': autostart,
'map_subscribe_transient_local': map_subscribe_transient_local}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'bt_xml_file',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'use_lifecycle_mgr', default_value='true',
description='Whether to launch the lifecycle manager'),
DeclareLaunchArgument(
'use_remappings', default_value='false',
description='Arguments to pass to all nodes launched by the file'),
DeclareLaunchArgument(
'map_subscribe_transient_local', default_value='false',
description='Whether to set the map subscriber QoS to transient local'),
Node(
package='nav2_controller',
node_executable='controller_server',
output='screen',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
package='nav2_planner',
node_executable='planner_server',
node_name='planner_server',
output='screen',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
package='nav2_recoveries',
node_executable='recoveries_server',
node_name='recoveries_server',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
package='nav2_bt_navigator',
node_executable='bt_navigator',
node_name='bt_navigator',
output='screen',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
condition=IfCondition(use_lifecycle_mgr),
package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
node_name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': ['controller_server',
'planner_server',
'recoveries_server',
'bt_navigator']}]),
])
def generate_launch_description():
# Get the launch directory
rover_config_dir = get_package_share_directory('rover_config')
marta_launch_dir = os.path.join(
get_package_share_directory('marta_launch'), 'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
autostart = LaunchConfiguration('autostart')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', 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_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',
description='Use simulation (Gazebo) clock if true')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(rover_config_dir, 'config',
'nav2_params.yaml'),
description=
'Full path to the ROS2 parameters file to use for all launched nodes')
declare_bt_xml_cmd = DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'), 'behavior_trees',
'navigate_w_replanning_distance.xml'),
description='Full path to the behavior tree xml file to use')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(condition=IfCondition(use_namespace),
namespace=namespace),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir, 'nav2_localization_launch.py')),
launch_arguments={
'namespace': namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'use_lifecycle_mgr': 'false'
}.items()),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir, 'nav2_navigation_launch.py')),
launch_arguments={
'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'default_bt_xml_filename':
default_bt_xml_filename,
'use_lifecycle_mgr': 'false',
'map_subscribe_transient_local': 'true'
}.items()),
])
# Create the launch description and populate
return LaunchDescription([
# Set env var to print messages colored. The ANSI color codes will appear in a log.
SetEnvironmentVariable('RCUTILS_COLORIZED_OUTPUT', '1'),
# Declare the launch options
declare_namespace_cmd,
declare_use_namespace_cmd,
declare_map_yaml_cmd,
declare_use_sim_time_cmd,
declare_params_file_cmd,
declare_autostart_cmd,
declare_bt_xml_cmd,
# Add the actions to launch all of the navigation nodes
bringup_cmd_group
])
def generate_launch_description():
# Get the launch directory
sm_aws_warehouse_navigation_dir = get_package_share_directory(
"sm_aws_warehouse_navigation")
launch_dir = os.path.join(sm_aws_warehouse_navigation_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")
# params_file = LaunchConfiguration("params_file")
# default_nav_to_pose_bt_xml = LaunchConfiguration("default_nav_to_pose_bt_xml")
# autostart = LaunchConfiguration("autostart")
stdout_linebuf_envvar = SetEnvironmentVariable(
"RCUTILS_LOGGING_BUFFERED_STREAM", "1")
declare_namespace_cmd = DeclareLaunchArgument(
"namespace", 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",
description="Use simulation (Gazebo) clock if true")
# declare_params_file_cmd = DeclareLaunchArgument(
# "params_file",
# default_value=os.path.join(
# sm_aws_warehouse_navigation_dir, "params", "nav2z_client", "nav2_params.yaml"
# ),
# description="Full path to the ROS2 parameters file to use for all launched nodes",
# )
# declare_bt_xml_cmd = DeclareLaunchArgument(
# "default_nav_to_pose_bt_xml",
# default_value=os.path.join(
# sm_aws_warehouse_navigation_dir, "params", "nav2z_client", "navigation_tree.xml"
# ),
# description="Full path to the behavior tree xml file to use",
# )
declare_autostart_cmd = DeclareLaunchArgument(
"autostart",
default_value="true",
description="Automatically startup the nav2 stack")
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(condition=IfCondition(use_namespace),
namespace=namespace),
# 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,
# "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_lifecycle_mgr": "false",
# }.items(),
# ),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_dir, "navigation_launch.py")),
launch_arguments={
"namespace": namespace,
"use_sim_time": use_sim_time,
# "autostart": autostart,
# "default_nav_to_pose_bt_xml": default_nav_to_pose_bt_xml,
"use_lifecycle_mgr": "false",
"map_subscribe_transient_local": "false",
}.items(),
),
])
# 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_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_bt_xml_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
launch_dir = os.path.join(bringup_dir, 'launch')
pilot_dir = get_package_share_directory('pilot_urjc_bringup')
pilot_launch_dir = os.path.join(pilot_dir, 'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
autostart = LaunchConfiguration('autostart')
cmd_vel_topic = LaunchConfiguration('cmd_vel_topic')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', 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 the launch arguments
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',
description='Use simulation (Gazebo) clock if true')
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_bt_xml_cmd = DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'), 'behavior_trees',
'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack')
declare_cmd_vel_topic_cmd = DeclareLaunchArgument(
'cmd_vel_topic',
default_value='cmd_vel',
description='Command velocity topic')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(condition=IfCondition(use_namespace),
namespace=namespace),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(launch_dir, 'localization_launch.py')),
launch_arguments={
'namespace': namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'use_lifecycle_mgr': 'true'
}.items()),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(pilot_launch_dir, 'nav2_navigation_launch.py')),
launch_arguments={
'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'default_bt_xml_filename':
default_bt_xml_filename,
'use_lifecycle_mgr': 'true',
'map_subscribe_transient_local': 'true',
'cmd_vel_topic': cmd_vel_topic
}.items()),
Node(package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}, {
'autostart': autostart
}, {
'node_names': [
'map_server', 'amcl', 'controller_server',
'planner_server', 'recoveries_server', 'bt_navigator',
'waypoint_follower'
]
}]),
])
# 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_namespace_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_bt_xml_cmd)
ld.add_action(declare_cmd_vel_topic_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld
def generate_launch_description():
launch_dir = os.path.join(get_package_share_directory('tms_rc_bot'),
'launch')
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
map_dir = LaunchConfiguration(
'map',
default=os.path.join(get_package_share_directory('tms_rc_bot'), 'maps',
'map_bsen.yaml'))
# map_yaml_file = LaunchConfiguration('map')
# bt_navigator_xml=os.path.join(get_package_share_directory('tms_rc_bot'), 'behavior_trees', 'navigate_w_recovery_retry.xml')
params_file = 'guidebot_params.yaml'
params_file_dir = LaunchConfiguration(
'params',
default=os.path.join(get_package_share_directory('tms_rc_bot'),
'params', params_file))
bt_xml_file = LaunchConfiguration('bt_xml_file')
autostart = LaunchConfiguration('autostart')
# nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
# bt_navigator_install_path = get_package_prefix('nav2_bt_navigator')
# bt_navigator_xml = os.path.join(bt_navigator_install_path,
# 'behavior_trees',
# 'navigate_w_recovery_retry.xml') # TODO(mkhansen): change to an input parameter
# rviz_config_dir = os.path.join(get_package_share_directory('tms_rc_bot'), 'rviz', 'tb3_navigation2.rviz')
urdf_file_name = 'turtlebot3_burger.urdf'
urdf = os.path.join(get_package_share_directory('turtlebot3_description'),
'urdf', urdf_file_name)
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_dir,
'bt_xml_filename': bt_xml_file,
'autostart': autostart
}
configured_params = RewrittenYaml(source_file=params_file_dir,
rewrites=param_substitutions,
convert_types=True)
# Declare the launch arguments
declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(get_package_share_directory('tms_rc_bot'),
'maps', 'map_bsen.yaml'),
description='Full path to map file to load')
declare_params_file_cmd = DeclareLaunchArgument(
'params',
default_value=os.path.join(get_package_share_directory('tms_rc_bot'),
'params', params_file),
description='Full path to param file to load')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack')
# declare_bt_xml_cmd = DeclareLaunchArgument(
# 'bt_xml_file',
# default_value=os.path.join(get_package_prefix('nav2_bt_navigator'),
# 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
# description='Full path to the behavior tree xml file to use')
declare_bt_xml_cmd = DeclareLaunchArgument(
'bt_xml_file',
default_value=os.path.join(
get_package_share_directory('tms_rc_bot'), 'behavior_trees',
'navigate_w_replanning_without_recovery.xml'),
description='Full path to the behavior tree xml file to use')
start_robot_state_publisher_cmd = Node(
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher',
output='screen',
parameters=[{
' use_sim_time': use_sim_time
}],
arguments=[urdf])
start_double_node_cmd = Node(package='doublenode',
node_executable='double_odom',
node_name='double_node',
output='screen')
# start_map_server_cmd = Node(
# package='nav2_map_server',
# node_executable='map_server',
# node_name='map_server',
# output='screen',
# parameters=[{ 'use_sim_time': use_sim_time}, { 'yaml_filename': map_dir}]
# )
start_map_server_cmd = Node(package='nav2_map_server',
node_executable='map_server',
node_name='map_server',
output='screen',
parameters=[configured_params])
# start_localizer_cmd = Node(
# package='nav2_amcl',
# node_executable='amcl',
# node_name='amcl',
# output='screen',
# parameters=[configured_params])
start_localizer_cmd = Node(package='robot_localization',
node_executable='se_node',
node_name='ekf_localization_node',
output='screen',
parameters=[params_file_dir],
remappings=[('/set_pose', '/initialpose')])
start_world_model_cmd = Node(package='nav2_world_model',
node_executable='world_model',
output='screen',
parameters=[configured_params])
start_dwb_cmd = Node(package='dwb_controller',
node_executable='dwb_controller',
output='screen',
parameters=[configured_params],
remappings=[('/cmd_vel', '/cmd2vel'),
('/odom', '/odometry/vicon')])
# start_planner_cmd = Node(
# package='nav2_navfn_planner',
# node_executable='navfn_planner',
# node_name='navfn_planner',
# output='screen',
# parameters=[{'use_sim_time': use_sim_time}],
# remappings=[('/amcl_pose', '/initialpose'), ('/cmd_vel', '/hapirobo/cmd_vel')]
# )
start_planner_cmd = Node(
package='nav2_navfn_planner',
node_executable='navfn_planner',
node_name='navfn_planner',
output='screen',
parameters=[configured_params]
# remappings=[('/amcl_pose', '/initialpose'), ('/cmd_vel', '/hapirobo/cmd_vel')]
)
start_recovery_cmd = Node(package='nav2_recoveries',
node_executable='recoveries_node',
node_name='recoveries',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}],
remappings=[('/amcl_pose', '/initialpose'),
('/cmd_vel', '/cmd2vel'),
('/odom', '/odometry/vicon')])
start_navigator_cmd = Node(package='nav2_bt_navigator',
node_executable='bt_navigator',
node_name='bt_navigator',
output='screen',
parameters=[configured_params])
start_lifecycle_manager_cmd = Node(package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
node_name='lifecycle_manager',
output='screen',
parameters=[configured_params])
# 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_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_bt_xml_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(start_lifecycle_manager_cmd)
ld.add_action(start_double_node_cmd)
ld.add_action(start_map_server_cmd)
# ld.add_action(start_localizer_cmd)
ld.add_action(start_world_model_cmd)
ld.add_action(start_dwb_cmd)
ld.add_action(start_planner_cmd)
ld.add_action(start_recovery_cmd)
ld.add_action(start_navigator_cmd)
ld.add_action(start_robot_state_publisher_cmd)
return ld
def generate_launch_description():
# Get the launch directory
jemalloc_env = SetEnvironmentVariable(
'LD_PRELOAD', '/usr/lib/x86_64-linux-gnu/libjemalloc.so.2')
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
gb_nav_dir = get_package_share_directory('gb_navigation')
gb_nav_launch_dir = os.path.join(gb_nav_dir, 'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
default_bt_xml_file = LaunchConfiguration('default_bt_xml_file')
autostart = LaunchConfiguration('autostart')
cmd_vel_topic = LaunchConfiguration('cmd_vel_topic')
# Launch configuration variables specific to simulation
rviz_config_file = LaunchConfiguration('rviz_config_file')
use_rviz = LaunchConfiguration('use_rviz')
# TODO(orduno) Remove once `PushNodeRemapping` is resolved
# https://github.com/ros2/launch_ros/issues/56
remappings = [((namespace, '/tf'), '/tf'),
((namespace, '/tf_static'), '/tf_static'), ('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', 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_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(gb_nav_dir, 'maps/robocup2021', 'map.yaml'),
description='Full path to map file to load')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(gb_nav_dir, 'params',
'nav2_tiago_params.yaml'),
description=
'Full path to the ROS2 parameters file to use for all launched nodes')
#declare_params_file_cmd = DeclareLaunchArgument(
# 'params_file',
# default_value=os.path.join(nav2_bringup_dir, 'params', 'nav2_params.yaml'),
# description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_bt_xml_cmd = DeclareLaunchArgument(
'default_bt_xml_file',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'), 'behavior_trees',
'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(gb_nav_dir, 'rviz', 'nav2_view.rviz'),
description='Full path to the RVIZ config file to use')
declare_use_rviz_cmd = DeclareLaunchArgument(
'use_rviz', default_value='True', description='Whether to start RVIZ')
declare_cmd_vel_topic_cmd = DeclareLaunchArgument(
'cmd_vel_topic',
default_value='nav_vel',
description='Command velocity topic')
start_rviz_cmd = Node(condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
arguments=['-d', rviz_config_file],
output='log',
remappings=[('/tf', 'tf'),
('/tf_static', 'tf_static'),
('goal_pose', 'goal_pose'),
('/clicked_point', 'clicked_point'),
('/initialpose', 'initialpose')])
#exit_event_handler = RegisterEventHandler(
# event_handler=OnProcessExit(
# target_action=start_rviz_cmd,
# on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
bringup_cmd = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(gb_nav_launch_dir, 'nav2_bringup_launch.py')),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'params_file': params_file,
'bt_xml_file':
default_bt_xml_file,
'autostart': autostart,
'cmd_vel_topic': cmd_vel_topic
}.items())
odom_2_world_cmd = Node(package="tf2_ros",
executable="static_transform_publisher",
arguments=[
"2.9", "2.38", "0.0", "1.57", "0.0", "0.0",
"odom", "world"
])
# PDDL Actions
move_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='move_1',
namespace=namespace,
output='screen',
parameters=[
gb_nav_dir + '/config/params.yaml', {
'action_name':
'move',
'bt_xml_file':
gb_nav_dir + '/behavior_trees_xml/move.xml'
}
])
search_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='search_1',
namespace=namespace,
output='screen',
parameters=[
gb_nav_dir + '/config/params.yaml', {
'action_name':
'search',
'bt_xml_file':
gb_nav_dir + '/behavior_trees_xml/search.xml'
}
])
# Create the launch description and populate
ld = LaunchDescription()
ld.add_action(jemalloc_env)
# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_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_bt_xml_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_rviz_config_file_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_cmd_vel_topic_cmd)
# Add any conditioned actions
ld.add_action(start_rviz_cmd)
ld.add_action(odom_2_world_cmd)
# Add other nodes and processes we need
#ld.add_action(exit_event_handler)
# Add PDDL Actions
ld.add_action(move_1_cmd)
ld.add_action(search_1_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd)
return ld
def generate_launch_description():
map_yaml_file = os.getenv('TEST_MAP')
world = os.getenv('TEST_WORLD')
urdf = os.getenv('TEST_URDF')
sdf = os.getenv('TEST_SDF')
bt_xml_file = os.path.join(
get_package_share_directory('nav2_bt_navigator'), 'behavior_trees',
os.getenv('BT_NAVIGATOR_XML'))
bringup_dir = get_package_share_directory('nav2_bringup')
robot1_params_file = os.path.join(
bringup_dir, # noqa: F841
'params/nav2_multirobot_params_1.yaml')
robot2_params_file = os.path.join(
bringup_dir, # noqa: F841
'params/nav2_multirobot_params_2.yaml')
# Names and poses of the robots
robots = [{
'name': 'robot1',
'x_pose': 0.0,
'y_pose': 0.5,
'z_pose': 0.01
}, {
'name': 'robot2',
'x_pose': 0.0,
'y_pose': -0.5,
'z_pose': 0.01
}]
# Launch Gazebo server for simulation
start_gazebo_cmd = ExecuteProcess(cmd=[
'gzserver', '-s', 'libgazebo_ros_factory.so', '--minimal_comms', world
],
output='screen')
# Define commands for spawing the robots into Gazebo
spawn_robots_cmds = []
for robot in robots:
spawn_robots_cmds.append(
Node(package='nav2_gazebo_spawner',
node_executable='nav2_gazebo_spawner',
output='screen',
arguments=[
'--robot_name',
TextSubstitution(text=robot['name']), '--robot_namespace',
TextSubstitution(text=robot['name']), '--sdf',
TextSubstitution(text=sdf), '-x',
TextSubstitution(text=str(robot['x_pose'])), '-y',
TextSubstitution(text=str(robot['y_pose'])), '-z',
TextSubstitution(text=str(robot['z_pose']))
]))
# Define commands for launching the robot state publishers
robot_state_pubs_cmds = []
for robot in robots:
robot_state_pubs_cmds.append(
Node(package='robot_state_publisher',
node_executable='robot_state_publisher',
node_namespace=TextSubstitution(text=robot['name']),
output='screen',
parameters=[{
'use_sim_time': 'True'
}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=[urdf]))
# Define commands for launching the navigation instances
nav_instances_cmds = []
for robot in robots:
params_file = eval(robot['name'] + '_params_file')
group = GroupAction([
# Instances use the robot's name for namespace
PushRosNamespace(robot['name']),
IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={
'namespace': robot['name'],
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': params_file,
'bt_xml_file': bt_xml_file,
'autostart': 'True',
'use_remappings': 'True'
}.items())
])
nav_instances_cmds.append(group)
ld = LaunchDescription()
ld.add_action(
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), )
ld.add_action(start_gazebo_cmd)
for spawn_robot in spawn_robots_cmds:
ld.add_action(spawn_robot)
for state_pub in robot_state_pubs_cmds:
ld.add_action(state_pub)
for nav_instance in nav_instances_cmds:
ld.add_action(nav_instance)
return ld
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
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')
params_file = LaunchConfiguration('params_file')
autostart = LaunchConfiguration('autostart')
use_composition = LaunchConfiguration('use_composition')
# 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
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file
}
configured_params = RewrittenYaml(source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', 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',
description='Use simulation (Gazebo) clock if true')
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_autostart_cmd = DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack')
declare_use_composition_cmd = DeclareLaunchArgument(
'use_composition',
default_value='True',
description='Whether to use composed bringup')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(condition=IfCondition(use_namespace),
namespace=namespace),
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,
'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
}.items()),
Node(condition=IfCondition(use_composition),
package='nav2_bringup',
executable='composed_bringup',
output='screen',
parameters=[configured_params, {
'autostart': autostart
}],
remappings=remappings),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_dir, 'navigation_launch.py')),
condition=IfCondition(PythonExpression(['not ', use_composition])),
launch_arguments={
'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file
}.items()),
])
# 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_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)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld
def generate_launch_description():
# Get the launch directory
example_dir = get_package_share_directory('plansys2_cooking_example')
namespace = LaunchConfiguration('namespace')
declare_namespace_cmd = DeclareLaunchArgument('namespace',
default_value='',
description='Namespace')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
plansys2_cmd = IncludeLaunchDescription(PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('plansys2_bringup'), 'launch',
'plansys2_bringup_monolithic_launch.py')),
launch_arguments={
'model_file': example_dir +
'/pddl/cooking_domain.pddl',
'namespace': namespace
}.items())
# Specify the actions
move_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='move_1',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'move',
'bt_xml_file':
example_dir + '/behavior_trees_xml/move.xml'
}
])
transport_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='transport_1',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'transport',
'bt_xml_file':
example_dir +
'/behavior_trees_xml/transport.xml'
}
])
recharge_1_cmd = Node(package='plansys2_bt_actions',
executable='bt_action_node',
name='recharge_1',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml', {
'action_name':
'recharge',
'bt_xml_file':
example_dir +
'/behavior_trees_xml/recharge.xml'
}
])
cook_omelette_1_cmd = Node(
package='plansys2_cooking_example',
executable='cook_omelette_action_node',
name='cook_omelette_1',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
cook_cake_1_cmd = Node(
package='plansys2_cooking_example',
executable='cook_cake_action_node',
name='cook_cake_1',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
cook_spaghetti_1_cmd = Node(
package='plansys2_cooking_example',
executable='cook_spaghetti_action_node',
name='cook_spaghetti_1',
namespace=namespace,
output='screen',
parameters=[]) # Create the launch description and populate
marker_cmd = Node(package='plansys2_cooking_example',
executable='marker_pub',
name='marker_pub',
namespace=namespace,
output='screen',
parameters=[
example_dir + '/config/params.yaml'
]) # Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_namespace_cmd)
# Declare the launch options
ld.add_action(plansys2_cmd)
ld.add_action(move_1_cmd)
ld.add_action(transport_1_cmd)
ld.add_action(recharge_1_cmd)
ld.add_action(cook_omelette_1_cmd)
ld.add_action(cook_cake_1_cmd)
ld.add_action(cook_spaghetti_1_cmd)
ld.add_action(marker_cmd)
return ld
def generate_launch_description():
bringup_dir = get_package_share_directory('nav2_bringup')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
default_nav_through_poses_bt_xml = LaunchConfiguration(
'default_nav_through_poses_bt_xml')
default_nav_to_pose_bt_xml = LaunchConfiguration(
'default_nav_to_pose_bt_xml')
map_subscribe_transient_local = LaunchConfiguration(
'map_subscribe_transient_local')
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'default_nav_through_poses_bt_xml': default_nav_through_poses_bt_xml,
'default_nav_to_pose_bt_xml': default_nav_to_pose_bt_xml,
'autostart': autostart,
'map_subscribe_transient_local': map_subscribe_transient_local
}
configured_params = RewrittenYaml(source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
lifecycle_nodes = ['behavior_server']
# 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
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
DeclareLaunchArgument('namespace',
default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params',
'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'default_nav_through_poses_bt_xml',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees',
'navigate_through_poses_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'default_nav_to_pose_bt_xml',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees',
'navigate_to_pose_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'map_subscribe_transient_local',
default_value='false',
description=
'Whether to set the map subscriber QoS to transient local'),
# TODO(orduno) Launch the robot state publisher instead
# using a local copy of TB3 urdf file
Node(package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']),
Node(package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=[
'0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'
]),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link',
'base_scan']),
Node(package='nav2_behaviors',
executable='behavior_server',
name='behavior_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}, {
'autostart': autostart
}, {
'node_names': lifecycle_nodes
}]),
])
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
namespace = LaunchConfiguration('namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
lifecycle_nodes = ['map_server', 'amcl']
# 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
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file
}
configured_params = RewrittenYaml(source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
DeclareLaunchArgument('namespace',
default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps',
'turtlebot3_world.yaml'),
description='Full path to map yaml file to load'),
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart',
default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params',
'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
Node(package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}, {
'autostart': autostart
}, {
'node_names': lifecycle_nodes
}])
])
def generate_launch_description():
marta_launch_dir = os.path.join(
get_package_share_directory('marta_launch'), 'launch')
rover_config_dir = os.path.join(
get_package_share_directory('rover_config'))
# Launch configurations
use_sim_time = LaunchConfiguration('use_sim_time')
config_file = LaunchConfiguration('config_file')
robot_description = LaunchConfiguration('robot_description')
rviz_config_file = LaunchConfiguration('rviz_config_file')
use_rviz = LaunchConfiguration('use_rviz')
use_simulator = LaunchConfiguration('use_simulator')
use_gazebo_gui = LaunchConfiguration('use_gazebo_gui')
world = LaunchConfiguration('world')
use_loc_cam = LaunchConfiguration('use_loc_cam')
stereo_cam_name = LaunchConfiguration('stereo_cam_name')
use_stereo_view = LaunchConfiguration('use_stereo_view')
# ## ROBOT MODEL
# Load XACRO and parse to URDF
xacro_model_name = 'marta.xacro'
xacro_model_path = os.path.join(rover_config_dir, 'urdf', xacro_model_name)
# Parse XACRO file to URDF
urdf_model_path = to_urdf(xacro_model_path)
# Launch declarations
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='False',
description='Use simulation (Gazebo) clock if true')
declare_config_file_cmd = DeclareLaunchArgument(
'config_file',
default_value=os.path.join(rover_config_dir, 'config', 'marta.yaml'),
description=
'Full path to the ROS2 parameters file to use for all launched nodes')
declare_robot_description_cmd = DeclareLaunchArgument(
'robot_description',
default_value=urdf_model_path,
description='Full path to robot urdf file.')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(rover_config_dir, 'rviz',
'gamepad_sim.rviz'),
description='Full path to the RVIZ config file to use')
declare_use_rviz_cmd = DeclareLaunchArgument(
'use_rviz', default_value='True', description='Whether to start RVIZ')
declare_use_simulator_cmd = DeclareLaunchArgument(
'use_simulator',
default_value='True',
description='Whether to start the simulator')
declare_use_gazebo_gui_cmd = DeclareLaunchArgument(
'use_gazebo_gui',
default_value='True',
description='Whether to execute gzclient)')
declare_world_cmd = DeclareLaunchArgument(
'world',
# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
# EMPTY WORLD
# default_value=os.path.join(rover_config_dir, 'worlds', 'empty.world'),
# MARS YARD
default_value=os.path.join(rover_config_dir, 'worlds',
'mars_yard.world'),
description='Full path to world model file to load')
declare_use_loc_cam_cmd = DeclareLaunchArgument(
'use_loc_cam',
default_value='True',
description='Whether to process loc_cam data.)')
declare_stereo_cam_name_cmd = DeclareLaunchArgument(
'stereo_cam_name',
default_value='/loc_cam',
description='Name of the stereo cam to be used.')
declare_use_stereo_view_cmd = DeclareLaunchArgument(
'use_stereo_view',
default_value='True',
description='Option to display stereo images.')
start_locomotion_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir, 'locomotion.launch.py')))
start_simulation_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir, 'simulation.launch.py')))
start_stereo_image_proc_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir, 'stereo_image_proc.launch.py')), )
rviz_cmd = Node(
condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
# Use this option to see all output from rviz:
# output='screen',
# Use this option to supress messages of missing tfs,
# at startup of rviz and gazebo:
output={'stdout': 'log'},
parameters=[{
'use_sim_time': use_sim_time
}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')])
return LaunchDescription([
# Set env var to print messages colored. The ANSI color codes will appear in a log.
SetEnvironmentVariable('RCUTILS_COLORIZED_OUTPUT', '1'),
# Parameter Declarations
declare_use_sim_time_cmd,
declare_config_file_cmd,
declare_robot_description_cmd,
declare_rviz_config_file_cmd,
declare_use_rviz_cmd,
declare_use_simulator_cmd,
declare_use_gazebo_gui_cmd,
declare_world_cmd,
declare_use_loc_cam_cmd,
declare_stereo_cam_name_cmd,
declare_use_stereo_view_cmd,
# Start Nodes and Launch files
start_locomotion_cmd,
start_simulation_cmd,
start_stereo_image_proc_cmd,
rviz_cmd,
])
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
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')
params_file = LaunchConfiguration('params_file')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
autostart = LaunchConfiguration('autostart')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
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',
description='Use simulation (Gazebo) clock if true')
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_bt_xml_cmd = DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(
condition=IfCondition(use_namespace),
namespace=namespace),
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,
'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_lifecycle_mgr': 'false'}.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,
'default_bt_xml_filename': default_bt_xml_filename,
'use_lifecycle_mgr': 'false',
'map_subscribe_transient_local': 'true'}.items()),
])
# 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_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_bt_xml_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld
def generate_launch_description():
# Configure environment
stdout_linebuf_envvar = SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
stdout_colorized_envvar = SetEnvironmentVariable('RCUTILS_COLORIZED_OUTPUT', '1')
# Simulated time
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
# Nodes Configurations
config_file = os.path.join("/home/harry/dev_ws/src/LeGO-LOAM-SR/LeGO-LOAM/config", 'loam_config.yaml')
# config_file = os.path.join(get_package_share_directory('lego_loam_sr'), 'config', 'loam_config.yaml')
# Tf transformations
# initialization of camera_init by using UWB
transform_map = Node(
package='tf2_ros',
node_executable='static_transform_publisher',
node_name='camera_init_to_map',
arguments=['0.095', '1.06', '0.38', '1.570795', '0', '1.570795', 'map', 'camera_init'],
)
#velodyne
transform_camera = Node(
package='tf2_ros',
node_executable='static_transform_publisher',
node_name='base_link_to_camera',
arguments=['0', '-0.38', '-0.405', '-1.570795', '-1.570795', '0', 'camera', 'base_link'],
)
transform_vel = Node(
package='tf2_ros',
node_executable='static_transform_publisher',
node_name='vel_to_camera',
arguments=['0', '0', '0', '0', '0', '0', 'camera', 'velodyne'],
)
# LeGO-LOAM
lego_loam_node = Node(
package='lego_loam_sr',
node_executable='lego_loam_sr',
output='screen',
parameters=[config_file],
remappings=[('/lidar_points', '/velodyne_points')],
)
driver_share_dir = get_package_share_directory('velodyne_driver')
driver_params_file = os.path.join(driver_share_dir, 'config', 'VLP16-velodyne_driver_node-params.yaml')
with open(driver_params_file, 'r') as f:
driver_params = yaml.safe_load(f)['velodyne_driver_node']['ros__parameters']
convert_share_dir = get_package_share_directory('velodyne_pointcloud')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP16-velodyne_convert_node-params.yaml')
with open(convert_params_file, 'r') as f:
convert_params = yaml.safe_load(f)['velodyne_convert_node']['ros__parameters']
convert_params['calibration'] = os.path.join(convert_share_dir, 'params', 'VLP16db.yaml')
laserscan_share_dir = get_package_share_directory('velodyne_laserscan')
laserscan_params_file = os.path.join(laserscan_share_dir, 'config', 'default-velodyne_laserscan_node-params.yaml')
with open(laserscan_params_file, 'r') as f:
laserscan_params = yaml.safe_load(f)['velodyne_laserscan_node']['ros__parameters']
container = ComposableNodeContainer(
node_name='velodyne_container',
node_namespace='',
package='rclcpp_components',
node_executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='velodyne_driver',
node_plugin='velodyne_driver::VelodyneDriver',
node_name='velodyne_driver_node',
parameters=[driver_params]),
ComposableNode(
package='velodyne_pointcloud',
node_plugin='velodyne_pointcloud::Convert',
node_name='velodyne_convert_node',
parameters=[convert_params]),
ComposableNode(
package='velodyne_laserscan',
node_plugin='velodyne_laserscan::VelodyneLaserScan',
node_name='velodyne_laserscan_node',
parameters=[laserscan_params]),
],
output='both',
)
gl_back = Node(
node_name = 'gl_ros2_driver_node_front',
package = 'gl_ros2_driver',
node_executable = 'gl_ros2_driver_node',
output = 'screen',
parameters = [
{'serial_port_name': '/dev/ttyUSB0'},
{'serial_baudrate': 921600},
{'frame_id': 'laser_back'},
{'parent_frame_id': 'base_link'},
{'pub_topicname_lidar': 'scan_back'},
{'angle_offset': -1.570796},
],
)
tf_back = Node(
package='tf2_ros',
node_executable='static_transform_publisher',
output = 'screen',
arguments = ['-0.405','0','0.38','0','0','0','base_link','laser_back']
)
uwb = Node(
node_name = 'uwb_node',
package='uwb_mdek1001',
node_executable='uwb_mdek1001_node',
output = 'screen',
parameters = [
{'serial_port_name': '/dev/ttyACM0'},
{'serial_baudrate': 115200},
{'frame_id': 'uwb_frame'},
{'pub_topicname_uwb': 'uwb_data'},
{'save_filepath': '/home/jetson-nx/ros2_ws/src/uwb_mdek1001/save_files'},
],
)
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
ld.add_action(stdout_colorized_envvar)
# Add nodes
ld.add_action(lego_loam_node)
ld.add_action(transform_map)
ld.add_action(transform_camera)
ld.add_action(transform_vel)
#ld.add_action(container)
#ld.add_action(gl_back)
#ld.add_action(tf_back)
#ld.add_action(uwb)
return ld
def generate_launch_description():
map_yaml_file = os.getenv('TEST_MAP')
world = os.getenv('TEST_WORLD')
bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'),
'behavior_trees',
os.getenv('BT_NAVIGATOR_XML'))
bringup_dir = get_package_share_directory('nav2_bringup')
params_file = os.path.join(bringup_dir, 'params', 'nav2_params.yaml')
# Replace the default parameter values for testing special features
# without having multiple params_files inside the nav2 stack
context = LaunchContext()
param_substitutions = {}
if (os.getenv('ASTAR') == 'True'):
param_substitutions.update({'use_astar': 'True'})
if (os.getenv('GROOT_MONITORING') == 'True'):
param_substitutions.update({'enable_groot_monitoring': 'True'})
param_substitutions.update(
{'planner_server.ros__parameters.GridBased.plugin': os.getenv('PLANNER')})
param_substitutions.update(
{'controller_server.ros__parameters.FollowPath.plugin': os.getenv('CONTROLLER')})
configured_params = RewrittenYaml(
source_file=params_file,
root_key='',
param_rewrites=param_substitutions,
convert_types=True)
new_yaml = configured_params.perform(context)
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
# Launch gazebo server for simulation
ExecuteProcess(
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
'--minimal_comms', world],
output='screen'),
# TODO(orduno) Launch the robot state publisher instead
# using a local copy of TB3 urdf file
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': new_yaml,
'bt_xml_file': bt_navigator_xml,
'autostart': 'True'}.items()),
])
def generate_launch_description():
marta_launch_dir = os.path.join(
get_package_share_directory('marta_launch'), 'launch')
rover_config_dir = get_package_share_directory('rover_config')
# Launch configurations
config_file = LaunchConfiguration('config_file')
robot_description = LaunchConfiguration('robot_description')
rviz_config_file = LaunchConfiguration('rviz_config_file')
urdf_path = LaunchConfiguration('urdf_path')
use_rviz = LaunchConfiguration('use_rviz')
# ## ROBOT MODEL
# Load XACRO and parse to URDF
xacro_model_name = 'marta.xacro'
xacro_model_path = os.path.join(rover_config_dir, 'urdf', xacro_model_name)
# Parse XACRO file to URDF
# TODO: Use LaunchConfigurations arguments to set parameters in URDF. How can the parameters be read out here???
urdf_model_path, robot_desc = to_urdf(xacro_model_path,
mappings={'use_ptu': 'true'})
# Launch declarations
declare_config_file_cmd = DeclareLaunchArgument(
'config_file',
default_value=os.path.join(rover_config_dir, 'config', 'marta.yaml'),
description=
'Full path to the ROS2 parameters file to use for all launched nodes')
declare_urdf_path_cmd = DeclareLaunchArgument(
'urdf_path',
default_value=urdf_model_path,
description='Full path to robot urdf file.')
declare_robot_description_cmd = DeclareLaunchArgument(
'robot_description',
default_value=robot_desc,
description='Full path to robot urdf file.')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(rover_config_dir, 'rviz',
'gamepad_rover.rviz'),
description='Full path to the RVIZ config file to use')
declare_use_rviz_cmd = DeclareLaunchArgument(
'use_rviz', default_value='True', description='Whether to start RVIZ')
start_locomotion_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir, 'locomotion.launch.py')))
start_pd_driver_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(marta_launch_dir,
'platform_driver_ethercat.launch.py')))
rviz_cmd = Node(
condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
# Use this option to see all output from rviz:
# output='screen',
# Use this option to supress messages of missing tfs,
# at startup of rviz and gazebo:
output={'stdout': 'log'},
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')])
return LaunchDescription([
# Set env var to print messages colored. The ANSI color codes will appear in a log.
SetEnvironmentVariable('RCUTILS_COLORIZED_OUTPUT', '1'),
# Parameter Declarations
declare_config_file_cmd,
declare_robot_description_cmd,
declare_rviz_config_file_cmd,
declare_urdf_path_cmd,
declare_use_rviz_cmd,
# Start Launch Files
start_locomotion_cmd,
start_pd_driver_cmd,
rviz_cmd,
])
