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 `use_astar` setting on the params file
param_substitutions = {
'planner_server.ros__parameters.GridBased.use_astar': 'False'}
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']),
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():
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'})
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_CONSOLE_STDOUT_LINE_BUFFERED', '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()),
])
