navigation workspace cleanup
This commit is contained in:
Rooholla-KhorramBakht
parent
97acfda70c
commit
9852be991f
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@ -1,107 +0,0 @@
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# 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, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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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('nav2_bringup')
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namespace = LaunchConfiguration('namespace')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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autostart = LaunchConfiguration('autostart')
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params_file = LaunchConfiguration('params_file')
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lifecycle_nodes = ['map_server', 'amcl']
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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'),
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('/tf_static', 'tf_static')]
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'yaml_filename': map_yaml_file}
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configured_params = 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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return LaunchDescription([
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# Set env var to print messages to stdout immediately
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SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
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DeclareLaunchArgument(
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'namespace', default_value='',
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description='Top-level namespace'),
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DeclareLaunchArgument(
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'map',
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default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
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description='Full path to map yaml file to load'),
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DeclareLaunchArgument(
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'use_sim_time', default_value='false',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack'),
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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'),
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Node(
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package='nav2_map_server',
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executable='map_server',
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name='map_server',
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output='screen',
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parameters=[configured_params],
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remappings=remappings),
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Node(
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package='nav2_amcl',
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executable='amcl',
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name='amcl',
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output='screen',
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parameters=[configured_params],
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remappings=remappings),
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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_localization',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time},
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{'autostart': autostart},
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{'node_names': lifecycle_nodes}])
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])
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@ -1,141 +0,0 @@
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# 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,
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IncludeLaunchDescription, SetEnvironmentVariable)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import PushRosNamespace
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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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launch_dir = os.path.join(bringup_dir, 'launch')
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# Create the launch configuration variables
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_namespace')
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slam = LaunchConfiguration('slam')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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params_file = LaunchConfiguration('params_file')
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default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
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autostart = LaunchConfiguration('autostart')
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_namespace_cmd = DeclareLaunchArgument(
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'use_namespace',
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default_value='false',
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description='Whether to apply a namespace to the navigation stack')
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declare_slam_cmd = DeclareLaunchArgument(
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'slam',
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default_value='False',
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description='Whether run a SLAM')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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description='Full path to map yaml file to load')
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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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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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declare_bt_xml_cmd = DeclareLaunchArgument(
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'default_bt_xml_filename',
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default_value=os.path.join(
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get_package_share_directory('nav2_bt_navigator'),
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'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
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description='Full path to the behavior tree xml file to use')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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# Specify the actions
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bringup_cmd_group = GroupAction([
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PushRosNamespace(
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condition=IfCondition(use_namespace),
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namespace=namespace),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
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condition=IfCondition(slam),
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launch_arguments={'namespace': namespace,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir,
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'localization_launch.py')),
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condition=IfCondition(PythonExpression(['not ', slam])),
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launch_arguments={'namespace': namespace,
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'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'use_lifecycle_mgr': 'false'}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
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launch_arguments={'namespace': namespace,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'default_bt_xml_filename': default_bt_xml_filename,
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'use_lifecycle_mgr': 'false',
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'map_subscribe_transient_local': 'true'}.items()),
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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_namespace_cmd)
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ld.add_action(declare_slam_cmd)
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ld.add_action(declare_map_yaml_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_bt_xml_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(bringup_cmd_group)
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return ld
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@ -1,107 +0,0 @@
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# Copyright (c) 2020 Samsung Research Russia
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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, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Input parameters declaration
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namespace = LaunchConfiguration('namespace')
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params_file = LaunchConfiguration('params_file')
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use_sim_time = LaunchConfiguration('use_sim_time')
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autostart = LaunchConfiguration('autostart')
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# Variables
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lifecycle_nodes = ['map_saver']
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# Getting directories and launch-files
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bringup_dir = get_package_share_directory('sportmode_nav2')
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slam_toolbox_dir = get_package_share_directory('sportmode_nav2')
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slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'mapping.launch.py')
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time}
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configured_params = 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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# Declare the launch arguments
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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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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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use simulation (Gazebo) clock if true')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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# Nodes launching commands
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start_slam_toolbox_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(slam_launch_file),
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launch_arguments={'use_sim_time': use_sim_time}.items())
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start_map_saver_server_cmd = Node(
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package='nav2_map_server',
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node_executable='map_saver_server',
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output='screen',
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parameters=[configured_params])
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start_lifecycle_manager_cmd = Node(
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package='nav2_lifecycle_manager',
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node_executable='lifecycle_manager',
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node_name='lifecycle_manager_slam',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time},
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{'autostart': autostart},
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{'node_names': lifecycle_nodes}])
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ld = LaunchDescription()
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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_params_file_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_autostart_cmd)
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# Running SLAM Toolbox
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ld.add_action(start_slam_toolbox_cmd)
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# Running Map Saver Server
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ld.add_action(start_map_saver_server_cmd)
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ld.add_action(start_lifecycle_manager_cmd)
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return ld
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@ -1,59 +0,0 @@
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, LogInfo
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from launch.conditions import UnlessCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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from nav2_common.launch import HasNodeParams
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time', default=False)
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params_file = LaunchConfiguration('params_file')
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default_params_file = os.path.join(get_package_share_directory("sportmode_nav2"),
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'params', 'mapping_async.yaml')
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declare_use_sim_time_argument = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation/Gazebo clock')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=default_params_file,
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description='Full path to the ROS2 parameters file to use for the slam_toolbox node')
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# If the provided param file doesn't have slam_toolbox params, we must pass the
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# default_params_file instead. This could happen due to automatic propagation of
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# LaunchArguments. See:
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# https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866
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has_node_params = HasNodeParams(source_file=params_file,
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node_name='slam_toolbox')
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actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params,
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' else "', default_params_file, '"'])
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log_param_change = LogInfo(msg=['provided params_file ', params_file,
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' does not contain slam_toolbox parameters. Using default: ',
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default_params_file],
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condition=UnlessCondition(has_node_params))
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start_async_slam_toolbox_node = Node(
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parameters=[
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actual_params_file,
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{'use_sim_time': use_sim_time}
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],
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package='slam_toolbox',
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executable='async_slam_toolbox_node',
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name='slam_toolbox',
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output='screen')
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ld = LaunchDescription()
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ld.add_action(declare_use_sim_time_argument)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(log_param_change)
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ld.add_action(start_async_slam_toolbox_node)
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return ld
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@ -19,7 +19,7 @@ slam_toolbox:
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# if you'd like to immediately start continuing a map at a given pose
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# or at the dock, but they are mutually exclusive, if pose is given
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# will use pose
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map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/Feb21_hallway
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map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/maps/Feb21_hallway
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#map_start_pose: [0.33, 1.49, 0.0]
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map_start_at_dock: true
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