navigation workspace cleanup

deploy/nav2_ws/src/sportmode_nav2/launch/localization_launch.py

@@ -1,107 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from nav2_common.launch import RewrittenYaml
-
-
-def generate_launch_description():
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('nav2_bringup')
-
-    namespace = LaunchConfiguration('namespace')
-    map_yaml_file = LaunchConfiguration('map')
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    autostart = LaunchConfiguration('autostart')
-    params_file = LaunchConfiguration('params_file')
-    lifecycle_nodes = ['map_server', 'amcl']
-
-    # Map fully qualified names to relative ones so the node's namespace can be prepended.
-    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
-    # https://github.com/ros/geometry2/issues/32
-    # https://github.com/ros/robot_state_publisher/pull/30
-    # TODO(orduno) Substitute with `PushNodeRemapping`
-    #              https://github.com/ros2/launch_ros/issues/56
-    remappings = [('/tf', 'tf'),
-                  ('/tf_static', 'tf_static')]
-
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'use_sim_time': use_sim_time,
-        'yaml_filename': map_yaml_file}
-
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
-
-    return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
-
-        DeclareLaunchArgument(
-            'namespace', default_value='',
-            description='Top-level namespace'),
-
-        DeclareLaunchArgument(
-            'map',
-            default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
-            description='Full path to map yaml file to load'),
-
-        DeclareLaunchArgument(
-            'use_sim_time', default_value='false',
-            description='Use simulation (Gazebo) clock if true'),
-
-        DeclareLaunchArgument(
-            'autostart', default_value='true',
-            description='Automatically startup the nav2 stack'),
-
-        DeclareLaunchArgument(
-            'params_file',
-            default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
-            description='Full path to the ROS2 parameters file to use'),
-
-        Node(
-            package='nav2_map_server',
-            executable='map_server',
-            name='map_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_amcl',
-            executable='amcl',
-            name='amcl',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_lifecycle_manager',
-            executable='lifecycle_manager',
-            name='lifecycle_manager_localization',
-            output='screen',
-            parameters=[{'use_sim_time': use_sim_time},
-                        {'autostart': autostart},
-                        {'node_names': lifecycle_nodes}])
-    ])

deploy/nav2_ws/src/sportmode_nav2/launch/nav2_bringup_launch.py

@@ -1,141 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, GroupAction,
-                            IncludeLaunchDescription, SetEnvironmentVariable)
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import PushRosNamespace
-
-
-def generate_launch_description():
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('sportmode_nav2')
-    launch_dir = os.path.join(bringup_dir, 'launch')
-
-    # Create the launch configuration variables
-    namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
-    slam = LaunchConfiguration('slam')
-    map_yaml_file = LaunchConfiguration('map')
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    params_file = LaunchConfiguration('params_file')
-    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
-    autostart = LaunchConfiguration('autostart')
-
-    stdout_linebuf_envvar = SetEnvironmentVariable(
-        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
-
-    declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Top-level namespace')
-
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack')
-
-    declare_slam_cmd = DeclareLaunchArgument(
-        'slam',
-        default_value='False',
-        description='Whether run a SLAM')
-
-    declare_map_yaml_cmd = DeclareLaunchArgument(
-        'map',
-        description='Full path to map yaml file to load')
-
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='false',
-        description='Use simulation (Gazebo) clock if true')
-
-    declare_params_file_cmd = DeclareLaunchArgument(
-        'params_file',
-        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
-        description='Full path to the ROS2 parameters file to use for all launched nodes')
-
-    declare_bt_xml_cmd = DeclareLaunchArgument(
-        'default_bt_xml_filename',
-        default_value=os.path.join(
-            get_package_share_directory('nav2_bt_navigator'),
-            'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
-        description='Full path to the behavior tree xml file to use')
-
-    declare_autostart_cmd = DeclareLaunchArgument(
-        'autostart', default_value='true',
-        description='Automatically startup the nav2 stack')
-
-    # Specify the actions
-    bringup_cmd_group = GroupAction([
-        PushRosNamespace(
-            condition=IfCondition(use_namespace),
-            namespace=namespace),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
-            condition=IfCondition(slam),
-            launch_arguments={'namespace': namespace,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'params_file': params_file}.items()),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir,
-                                                       'localization_launch.py')),
-            condition=IfCondition(PythonExpression(['not ', slam])),
-            launch_arguments={'namespace': namespace,
-                              'map': map_yaml_file,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'params_file': params_file,
-                              'use_lifecycle_mgr': 'false'}.items()),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
-            launch_arguments={'namespace': namespace,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'params_file': params_file,
-                              'default_bt_xml_filename': default_bt_xml_filename,
-                              'use_lifecycle_mgr': 'false',
-                              'map_subscribe_transient_local': 'true'}.items()),
-    ])
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Set environment variables
-    ld.add_action(stdout_linebuf_envvar)
-
-    # Declare the launch options
-    ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
-    ld.add_action(declare_slam_cmd)
-    ld.add_action(declare_map_yaml_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_params_file_cmd)
-    ld.add_action(declare_autostart_cmd)
-    ld.add_action(declare_bt_xml_cmd)
-
-    # Add the actions to launch all of the navigation nodes
-    ld.add_action(bringup_cmd_group)
-
-    return ld

deploy/nav2_ws/src/sportmode_nav2/launch/slam_launch.py

@@ -1,107 +0,0 @@
-# Copyright (c) 2020 Samsung Research Russia
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from nav2_common.launch import RewrittenYaml
-
-
-def generate_launch_description():
-    # Input parameters declaration
-    namespace = LaunchConfiguration('namespace')
-    params_file = LaunchConfiguration('params_file')
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    autostart = LaunchConfiguration('autostart')
-
-    # Variables
-    lifecycle_nodes = ['map_saver']
-
-    # Getting directories and launch-files
-    bringup_dir = get_package_share_directory('sportmode_nav2')
-    slam_toolbox_dir = get_package_share_directory('sportmode_nav2')
-    slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'mapping.launch.py')
-
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'use_sim_time': use_sim_time}
-
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
-
-    # Declare the launch arguments
-    declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Top-level namespace')
-
-    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_use_sim_time_cmd = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='true',
-        description='Use simulation (Gazebo) clock if true')
-
-    declare_autostart_cmd = DeclareLaunchArgument(
-        'autostart', default_value='true',
-        description='Automatically startup the nav2 stack')
-
-    # Nodes launching commands
-    start_slam_toolbox_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(slam_launch_file),
-        launch_arguments={'use_sim_time': use_sim_time}.items())
-
-    start_map_saver_server_cmd = Node(
-            package='nav2_map_server',
-            node_executable='map_saver_server',
-            output='screen',
-            parameters=[configured_params])
-
-    start_lifecycle_manager_cmd = Node(
-            package='nav2_lifecycle_manager',
-            node_executable='lifecycle_manager',
-            node_name='lifecycle_manager_slam',
-            output='screen',
-            parameters=[{'use_sim_time': use_sim_time},
-                        {'autostart': autostart},
-                        {'node_names': lifecycle_nodes}])
-
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_params_file_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_autostart_cmd)
-
-    # Running SLAM Toolbox
-    ld.add_action(start_slam_toolbox_cmd)
-
-    # Running Map Saver Server
-    ld.add_action(start_map_saver_server_cmd)
-    ld.add_action(start_lifecycle_manager_cmd)
-
-    return ld

deploy/nav2_ws/src/sportmode_nav2/launch/slam_toolbox_localization.py

@@ -1,59 +0,0 @@
-import os
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, LogInfo
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-from nav2_common.launch import HasNodeParams
-
-
-def generate_launch_description():
-    use_sim_time = LaunchConfiguration('use_sim_time', default=False)
-    params_file = LaunchConfiguration('params_file')
-    default_params_file = os.path.join(get_package_share_directory("sportmode_nav2"),
-                                       'params', 'mapping_async.yaml')
-
-    declare_use_sim_time_argument = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='false',
-        description='Use simulation/Gazebo clock')
-    declare_params_file_cmd = DeclareLaunchArgument(
-        'params_file',
-        default_value=default_params_file,
-        description='Full path to the ROS2 parameters file to use for the slam_toolbox node')
-
-    # If the provided param file doesn't have slam_toolbox params, we must pass the
-    # default_params_file instead. This could happen due to automatic propagation of
-    # LaunchArguments. See:
-    # https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866
-    has_node_params = HasNodeParams(source_file=params_file,
-                                    node_name='slam_toolbox')
-
-    actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params,
-                                           ' else "', default_params_file, '"'])
-
-    log_param_change = LogInfo(msg=['provided params_file ',  params_file,
-                                    ' does not contain slam_toolbox parameters. Using default: ',
-                                    default_params_file],
-                               condition=UnlessCondition(has_node_params))
-
-    start_async_slam_toolbox_node = Node(
-        parameters=[
-          actual_params_file,
-          {'use_sim_time': use_sim_time}
-        ],
-        package='slam_toolbox',
-        executable='async_slam_toolbox_node',
-        name='slam_toolbox',
-        output='screen')
-
-    ld = LaunchDescription()
-
-    ld.add_action(declare_use_sim_time_argument)
-    ld.add_action(declare_params_file_cmd)
-    ld.add_action(log_param_change)
-    ld.add_action(start_async_slam_toolbox_node)
-
-    return ld

deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml

@@ -19,7 +19,7 @@ slam_toolbox:
     # if you'd like to immediately start continuing a map at a given pose
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
-    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/Feb21_hallway
+    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/maps/Feb21_hallway
     #map_start_pose: [0.33, 1.49, 0.0]
     map_start_at_dock: true