def generate_launch_description():
ld = LaunchDescription([
DeclareLaunchArgument(
'gazebo_model_path_env_var',
description='GAZEBO_MODEL_PATH environment variable'),
DeclareLaunchArgument(
'gazebo_plugin_path_env_var',
description='GAZEBO_PLUGIN_PATH environment variable'),
DeclareLaunchArgument(
'headless',
default_value='False',
description='Whether to execute gzclient'),
DeclareLaunchArgument(
'world_model_file',
description='Full path to world model file to load'),
DeclareLaunchArgument(
'robot_gt_urdf_file',
description='Full path to robot urdf model file to load'),
DeclareLaunchArgument(
'robot_realistic_urdf_file',
description='Full path to robot urdf model file to load'),
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
SetEnvironmentVariable('GAZEBO_MODEL_PATH', LaunchConfiguration('gazebo_model_path_env_var')),
SetEnvironmentVariable('GAZEBO_PLUGIN_PATH', LaunchConfiguration('gazebo_plugin_path_env_var')),
ExecuteProcess(
cmd=['gzserver', '--verbose', '-s', 'libgazebo_ros_init.so', LaunchConfiguration('world_model_file')],
output='screen'),
ExecuteProcess(
condition=IfCondition(PythonExpression(['not ', LaunchConfiguration('headless')])),
cmd=['gzclient'],
output='log'),
Node(
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher_gt',
output='log',
parameters=[{'use_sim_time': True}],
arguments=[LaunchConfiguration('robot_gt_urdf_file')]),
Node(
package='tf2_ros',
node_executable='static_transform_publisher',
node_name='gt_odom_static_transform_publisher',
output='log',
parameters=[{'use_sim_time': True}],
arguments=["0", "0", "0", "0", "0", "0", "map", "odom"]), # odom is actually the ground truth, because currently (Eloquent) odom and base_link are hardcoded in the navigation stack (recoveries and controller) >:C
Node(
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher_realistic',
output='log',
parameters=[{'use_sim_time': True}],
arguments=[LaunchConfiguration('robot_realistic_urdf_file')]),
])
return ld
def generate_launch_description():
declare_use_remappings_cmd = DeclareLaunchArgument(
'use_remappings',
default_value='false',
description='Arguments to pass to all nodes launched by the file')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
description='Full path to the RVIZ config file to use')
start_rviz_cmd = Node(
package='rviz2',
node_executable='rviz2',
node_name='rviz2',
arguments=['-d', LaunchConfiguration('rviz_config_file')],
output='log',
use_remappings=IfCondition(LaunchConfiguration('use_remappings')),
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static'),
('goal_pose', 'goal_pose'),
('/clicked_point', 'clicked_point'),
('/initialpose', 'initialpose')])
# Create the launch description and populate
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_use_remappings_cmd)
ld.add_action(declare_rviz_config_file_cmd)
# Add any conditioned actions
ld.add_action(start_rviz_cmd)
return ld
def generate_launch_description():
namespace = LaunchConfiguration('namespace')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', default_value='bla', description='Top-level namespace')
print(declare_namespace_cmd.parse())
gamepad_parser_cmd = Node(package='gamepad_parser',
namespace=namespace,
executable='gamepad_parser_node',
name='gamepad_parser_node',
output='screen',
emulate_tty=True)
ld = LaunchDescription()
ld.add_action(declare_namespace_cmd)
ld.add_action(gamepad_parser_cmd)
return ld
def generate_launch_description():
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_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,
'bt_xml_filename': bt_xml_file,
}
configured_params = RewrittenYaml(source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
DeclareLaunchArgument('namespace',
default_value='',
description='Top-level namespace'),
DeclareLaunchArgument('use_sim_time',
default_value='false',
description='Use simulation/bag clock if true'),
DeclareLaunchArgument(
'params_file',
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_remappings',
default_value='false',
description='Arguments to pass to all nodes launched by the file'),
Node(
package='nav2_controller',
node_executable='controller_server',
output='log',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
on_exit=EmitEvent(event=Shutdown(reason='nav2_controller_error'))),
Node(package='nav2_planner',
node_executable='planner_server',
node_name='planner_server',
output='log',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
on_exit=EmitEvent(event=Shutdown(reason='nav2_planner_error'))),
Node(
package='nav2_recoveries',
node_executable='recoveries_server',
node_name='recoveries_server',
output='log',
parameters=[{
'use_sim_time': use_sim_time
}],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
on_exit=EmitEvent(event=Shutdown(reason='nav2_recoveries_error'))),
Node(package='nav2_bt_navigator',
node_executable='bt_navigator',
node_name='bt_navigator',
output='log',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
on_exit=EmitEvent(event=Shutdown(
reason='nav2_bt_navigator_error'))),
Node(package='nav2_waypoint_follower',
node_executable='waypoint_follower',
node_name='waypoint_follower',
output='log',
parameters=[configured_params],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
on_exit=EmitEvent(event=Shutdown(
reason='nav2_waypoint_follower_error'))),
])
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')
# Launch configuration variables specific to simulation
rviz_config_file = LaunchConfiguration('rviz_config_file')
use_simulator = LaunchConfiguration('use_simulator')
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
use_rviz = LaunchConfiguration('use_rviz')
simulator = LaunchConfiguration('simulator')
world = LaunchConfiguration('world')
# 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')]
# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
'namespace', default_value='', description='Top-level namespace')
declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps',
'turtlebot3_world.yaml'),
description='Full path to map file to load')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='true',
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_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='false',
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')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(bringup_dir, 'rviz',
'nav2_default_view.rviz'),
description='Full path to the RVIZ config file to use')
declare_use_simulator_cmd = DeclareLaunchArgument(
'use_simulator',
default_value='True',
description='Whether to start the simulator')
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
'use_robot_state_pub',
default_value='True',
description='Whether to start the robot state publisher')
declare_use_rviz_cmd = DeclareLaunchArgument(
'use_rviz', default_value='True', description='Whether to start RVIZ')
declare_simulator_cmd = DeclareLaunchArgument(
'simulator',
default_value='gazebo',
description='The simulator to use (gazebo or gzserver)')
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
# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
# 'worlds/turtlebot3_worlds/waffle.model'),
default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
description='Full path to world model file to load')
# Specify the actions
start_gazebo_cmd = ExecuteProcess(
condition=IfCondition(use_simulator),
cmd=[simulator, '-s', 'libgazebo_ros_init.so', world],
cwd=[launch_dir],
output='screen')
urdf = os.path.join(get_package_share_directory('turtlebot3_description'),
'urdf', 'turtlebot3_waffle.urdf')
start_robot_state_publisher_cmd = Node(
condition=IfCondition(use_robot_state_pub),
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
arguments=[urdf])
start_rviz_cmd = Node(condition=IfCondition(use_rviz),
package='rviz2',
node_executable='rviz2',
node_name='rviz2',
arguments=['-d', rviz_config_file],
output='screen',
use_remappings=IfCondition(use_remappings),
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(launch_dir, 'nav2_bringup_launch.py')),
launch_arguments={
'namespace': namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'params_file': params_file,
'bt_xml_file': bt_xml_file,
'autostart': autostart,
'use_remappings': use_remappings
}.items())
# Create the launch description and populate
ld = LaunchDescription()
# 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_bt_xml_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_use_remappings_cmd)
ld.add_action(declare_rviz_config_file_cmd)
ld.add_action(declare_use_simulator_cmd)
ld.add_action(declare_use_robot_state_pub_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_simulator_cmd)
ld.add_action(declare_world_cmd)
# Add any conditioned actions
ld.add_action(start_gazebo_cmd)
ld.add_action(start_rviz_cmd)
# Add other nodes and processes we need
ld.add_action(exit_event_handler)
# Add the actions to launch all of the navigation nodes
ld.add_action(start_robot_state_publisher_cmd)
ld.add_action(bringup_cmd)
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')
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')
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(
'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_use_remappings_cmd = DeclareLaunchArgument(
'use_remappings',
default_value='false',
description='Arguments to pass to all nodes launched by the file')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(condition=IfCondition(use_namespace),
namespace=namespace),
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()),
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()),
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',
'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_use_remappings_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')
namespace = LaunchConfiguration('namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
use_lifecycle_mgr = LaunchConfiguration('use_lifecycle_mgr')
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',
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'),
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'),
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),
Node(condition=IfCondition(use_lifecycle_mgr),
package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
node_name='lifecycle_manager_localization',
output='screen',
parameters=[{
'use_sim_time': use_sim_time
}, {
'autostart': autostart
}, {
'node_names': ['map_server', 'amcl']
}])
])
def generate_launch_description():
# Get the launch directory
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
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')
bt_xml_file = LaunchConfiguration('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(pilot_dir, 'maps/urjc/restaurant',
'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(pilot_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(
'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(nav2_bringup_dir, 'rviz',
'nav2_default_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='cmd_vel_mux',
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(pilot_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': bt_xml_file,
'autostart': autostart,
'cmd_vel_topic': cmd_vel_topic
}.items())
shm_model_path = (get_package_share_directory('pilot_urjc_bringup') +
'/params/pilot_modes.yaml')
# Start as a normal node is currently not possible.
# Path to SHM file should be passed as a ROS parameter.
mode_manager_node = Node(package='system_modes',
executable='mode_manager',
parameters=[{
'modelfile': shm_model_path
}],
output='screen')
# Create the launch description and populate
ld = LaunchDescription()
# 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)
# Add other nodes and processes we need
ld.add_action(exit_event_handler)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd)
# Add system modes manager
ld.add_action(mode_manager_node)
return ld
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
rviz_config_file = LaunchConfiguration('rviz_config')
# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='navigation',
description=('Top-level namespace. The value will be used to replace the '
'<robot_namespace> keyword on the rviz config file.'))
declare_use_namespace_cmd = DeclareLaunchArgument(
'use_namespace',
default_value='false',
description='Whether to apply a namespace to the navigation stack')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config',
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
description='Full path to the RVIZ config file to use')
# Launch rviz
start_rviz_cmd = Node(
condition=UnlessCondition(use_namespace),
package='rviz2',
node_executable='rviz2',
node_name='rviz2',
arguments=['-d', rviz_config_file],
output='screen')
namespaced_rviz_config_file = ReplaceString(
source_file=rviz_config_file,
replacements={'<robot_namespace>': ('/', namespace)})
start_namespaced_rviz_cmd = Node(
condition=IfCondition(use_namespace),
package='rviz2',
node_executable='rviz2',
node_name='rviz2',
node_namespace=namespace,
arguments=['-d', namespaced_rviz_config_file],
output='screen',
use_remappings=IfCondition('True'),
remappings=[('/tf', 'tf'),
('/tf_static', 'tf_static'),
('/goal_pose', 'goal_pose'),
('/clicked_point', 'clicked_point'),
('/initialpose', 'initialpose')])
exit_event_handler = RegisterEventHandler(
condition=UnlessCondition(use_namespace),
event_handler=OnProcessExit(
target_action=start_rviz_cmd,
on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
exit_event_handler_namespaced = RegisterEventHandler(
condition=IfCondition(use_namespace),
event_handler=OnProcessExit(
target_action=start_namespaced_rviz_cmd,
on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
# Create the launch description and populate
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_rviz_config_file_cmd)
# Add any conditioned actions
ld.add_action(start_rviz_cmd)
ld.add_action(start_namespaced_rviz_cmd)
# Add other nodes and processes we need
ld.add_action(exit_event_handler)
ld.add_action(exit_event_handler_namespaced)
return ld
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')
# 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 = [((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,
'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(
package='nav2_waypoint_follower',
node_executable='waypoint_follower',
node_name='waypoint_follower',
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',
'waypoint_follower']}]),
])
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')
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')
# Launch configuration variables specific to simulation
rviz_config_file = LaunchConfiguration('rviz_config_file')
use_simulator = LaunchConfiguration('use_simulator')
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
use_rviz = LaunchConfiguration('use_rviz')
headless = LaunchConfiguration('headless')
world = LaunchConfiguration('world')
# 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 = [((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(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
description='Full path to map file to load')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='true',
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_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='false',
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')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
description='Full path to the RVIZ config file to use')
declare_use_simulator_cmd = DeclareLaunchArgument(
'use_simulator',
default_value='True',
description='Whether to start the simulator')
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
'use_robot_state_pub',
default_value='True',
description='Whether to start the robot state publisher')
declare_use_rviz_cmd = DeclareLaunchArgument(
'use_rviz',
default_value='True',
description='Whether to start RVIZ')
declare_simulator_cmd = DeclareLaunchArgument(
'headless',
default_value='False',
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
# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
# 'worlds/turtlebot3_worlds/waffle.model'),
default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
description='Full path to world model file to load')
# Specify the actions
start_gazebo_server_cmd = ExecuteProcess(
condition=IfCondition(use_simulator),
cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],
cwd=[launch_dir], output='screen')
start_gazebo_client_cmd = ExecuteProcess(
condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),
cmd=['gzclient'],
cwd=[launch_dir], output='screen')
urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
start_robot_state_publisher_cmd = Node(
condition=IfCondition(use_robot_state_pub),
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher',
node_namespace=namespace,
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
use_remappings=IfCondition(use_remappings),
remappings=remappings,
arguments=[urdf])
rviz_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_rviz_launch.py')),
condition=IfCondition(use_rviz),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'rviz_config': rviz_config_file}.items())
bringup_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(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': bt_xml_file,
'autostart': autostart}.items())
# Create the launch description and populate
ld = LaunchDescription()
# 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_use_remappings_cmd)
ld.add_action(declare_rviz_config_file_cmd)
ld.add_action(declare_use_simulator_cmd)
ld.add_action(declare_use_robot_state_pub_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_simulator_cmd)
ld.add_action(declare_world_cmd)
# Add any conditioned actions
ld.add_action(start_gazebo_server_cmd)
ld.add_action(start_gazebo_client_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(start_robot_state_publisher_cmd)
ld.add_action(rviz_cmd)
ld.add_action(bringup_cmd)
return ld
