342 lines
13 KiB
Python
342 lines
13 KiB
Python
# Copyright (c) 2018 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import LoadComposableNodes, SetParameter
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode, ParameterFile
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('sportmode_nav2')
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namespace = LaunchConfiguration('namespace')
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use_sim_time = LaunchConfiguration('use_sim_time', default='false')
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autostart = LaunchConfiguration('autostart')
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params_file = LaunchConfiguration('params_file')
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use_composition = LaunchConfiguration('use_composition')
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container_name = LaunchConfiguration('container_name')
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container_name_full = (namespace, '/', container_name)
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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lifecycle_nodes = [
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'controller_server',
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'smoother_server',
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'planner_server',
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'behavior_server',
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'velocity_smoother',
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# 'collision_monitor',
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'bt_navigator',
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'waypoint_follower',
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# 'docking_server',
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]
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static'), ('/cmd_vel', '/go2/cmd_vel')]
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {'autostart': autostart}
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configured_params = ParameterFile(
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RewrittenYaml(
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source_file=params_file,
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root_key=namespace,
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param_rewrites=param_substitutions,
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convert_types=True,
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),
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allow_substs=True,
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)
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1'
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)
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace', default_value='', description='Top-level namespace'
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)
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true',
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)
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes',
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)
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart',
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default_value='true',
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description='Automatically startup the nav2 stack',
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)
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition',
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default_value='False',
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description='Use composed bringup if True',
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)
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declare_container_name_cmd = DeclareLaunchArgument(
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'container_name',
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default_value='nav2_container',
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description='the name of conatiner that nodes will load in if use composition',
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)
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn',
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default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.',
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)
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info', description='log level'
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)
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load_nodes = GroupAction(
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condition=IfCondition(PythonExpression(['not ', use_composition])),
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actions=[
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SetParameter('use_sim_time', use_sim_time),
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Node(
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package='nav2_controller',
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executable='controller_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
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),
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Node(
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package='nav2_smoother',
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executable='smoother_server',
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name='smoother_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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),
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Node(
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package='nav2_planner',
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executable='planner_server',
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name='planner_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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),
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Node(
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package='nav2_behaviors',
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executable='behavior_server',
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name='behavior_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
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),
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Node(
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package='nav2_bt_navigator',
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executable='bt_navigator',
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name='bt_navigator',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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),
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Node(
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package='nav2_waypoint_follower',
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executable='waypoint_follower',
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name='waypoint_follower',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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),
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Node(
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package='nav2_velocity_smoother',
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executable='velocity_smoother',
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name='velocity_smoother',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings
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+ [('cmd_vel', 'cmd_vel_nav')],
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),
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# Node(
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# package='nav2_collision_monitor',
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# executable='collision_monitor',
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# name='collision_monitor',
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# output='screen',
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# respawn=use_respawn,
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# respawn_delay=2.0,
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# parameters=[configured_params],
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# arguments=['--ros-args', '--log-level', log_level],
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# remappings=remappings,
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# ),
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# Node(
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# package='opennav_docking',
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# executable='opennav_docking',
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# name='docking_server',
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# output='screen',
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# respawn=use_respawn,
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# respawn_delay=2.0,
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# parameters=[configured_params],
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# arguments=['--ros-args', '--log-level', log_level],
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# remappings=remappings,
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# ),
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Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager_navigation',
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output='screen',
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arguments=['--ros-args', '--log-level', log_level],
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parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}],
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),
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],
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)
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load_composable_nodes = GroupAction(
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condition=IfCondition(use_composition),
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actions=[
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SetParameter('use_sim_time', use_sim_time),
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LoadComposableNodes(
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target_container=container_name_full,
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composable_node_descriptions=[
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ComposableNode(
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package='nav2_controller',
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plugin='nav2_controller::ControllerServer',
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name='controller_server',
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parameters=[configured_params],
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remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
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),
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ComposableNode(
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package='nav2_smoother',
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plugin='nav2_smoother::SmootherServer',
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name='smoother_server',
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parameters=[configured_params],
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remappings=remappings,
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),
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ComposableNode(
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package='nav2_planner',
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plugin='nav2_planner::PlannerServer',
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name='planner_server',
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parameters=[configured_params],
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remappings=remappings,
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),
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ComposableNode(
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package='nav2_behaviors',
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plugin='behavior_server::BehaviorServer',
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name='behavior_server',
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parameters=[configured_params],
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remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
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),
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ComposableNode(
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package='nav2_bt_navigator',
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plugin='nav2_bt_navigator::BtNavigator',
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name='bt_navigator',
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parameters=[configured_params],
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remappings=remappings,
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),
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ComposableNode(
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package='nav2_waypoint_follower',
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plugin='nav2_waypoint_follower::WaypointFollower',
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name='waypoint_follower',
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parameters=[configured_params],
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remappings=remappings,
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),
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ComposableNode(
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package='nav2_velocity_smoother',
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plugin='nav2_velocity_smoother::VelocitySmoother',
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name='velocity_smoother',
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parameters=[configured_params],
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remappings=remappings
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+ [('cmd_vel', 'cmd_vel_nav')],
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),
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# ComposableNode(
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# package='nav2_collision_monitor',
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# plugin='nav2_collision_monitor::CollisionMonitor',
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# name='collision_monitor',
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# parameters=[configured_params],
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# remappings=remappings,
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# ),
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# ComposableNode(
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# package='opennav_docking',
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# plugin='opennav_docking::DockingServer',
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# name='docking_server',
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# parameters=[configured_params],
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# remappings=remappings,
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# ),
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ComposableNode(
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package='nav2_lifecycle_manager',
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plugin='nav2_lifecycle_manager::LifecycleManager',
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name='lifecycle_manager_navigation',
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parameters=[
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{'autostart': autostart, 'node_names': lifecycle_nodes}
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],
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),
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],
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),
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],
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_container_name_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(load_nodes)
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ld.add_action(load_composable_nodes)
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return ld
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