Merge branch 'simplify-bringup' of github.com:stevemacenski/navigation2 into simplify-bringup

nav2_amcl/src/amcl_node.cpp

@@ -1079,7 +1079,6 @@ AmclNode::handleMapMessage(const nav_msgs::msg::OccupancyGrid & msg)
 #if NEW_UNIFORM_SAMPLING
   createFreeSpaceVector();
 #endif
-
 }
 
 void

nav2_bringup/bringup/launch/nav2_bringup_launch.py

@@ -24,8 +24,6 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import PushRosNamespace
 
-from nav2_common.launch import Node
-
 
 def generate_launch_description():
     # Get the launch directory
@@ -35,6 +33,12 @@ def generate_launch_description():
     # 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')
@@ -49,6 +53,35 @@ def generate_launch_description():
         default_value='false',
         description='Whether to apply a namespace to the navigation stack')
 
+    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(
@@ -56,10 +89,26 @@ def generate_launch_description():
             namespace=namespace),
 
         IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_localization_launch.py'))),
+            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'))),
+            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()),
     ])
 
     # Create the launch description and populate
@@ -71,6 +120,12 @@ def generate_launch_description():
     # 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)