Integrate minor changes in nav2_bringup

nav2_bringup/launch/bt_navigator.xml

+<!--
+  This Behavior Tree first computes a path using the global planner (ComputePathToPose).
+  Then, it runs two sub-branches in parallel. The first sub-branch is a FollowPath
+  operation (the local planner). In parallel, there is a rate controlled execution of
+  FollowPath (the global planner). Each time a new path is computed, the path update
+  is sent to the local planner. The right branch, which is the rate controlled
+  ComputePathToPose, always returns RUNNING. Because the Parallel node uses a
+  threshold of 1, whenever the FollowPath returns SUCCESS or FAILURE, the parallel
+  node will return this result.
+
+  The goal (input to the global planner) and the resulting path (output of the global
+  planner and input to the local planner) are passed on the blackboard.
+
+  The rate at which the ComputePathToPose operation is invoked can be controlled with
+  the hz parameter to the RateController node.
+-->
+
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <Sequence name="root">

nav2_bringup/launch/nav2_bringup_launch.py

@@ -19,46 +19,63 @@ from ament_index_python.packages import get_package_share_directory
 from launch.conditions import IfCondition
 
 import launch.actions
+import launch_ros.actions
 
 
 def generate_launch_description():
+    # Get the launch directory
+    launch_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
+
+    # Create the launch configuration variables
+    map_yaml_file = launch.substitutions.LaunchConfiguration('map')
+    use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time')
     use_simulation = launch.substitutions.LaunchConfiguration('use_simulation')
     simulator = launch.substitutions.LaunchConfiguration('simulator')
     world = launch.substitutions.LaunchConfiguration('world')
-    params_file = launch.substitutions.LaunchConfiguration(
-        'params', default=[launch.substitutions.ThisLaunchFileDir(), '/nav2_params.yaml'])
+    params_file = launch.substitutions.LaunchConfiguration('params')
+
+    # Declare the launch arguments
+    declare_map_yaml_cmd = launch.actions.DeclareLaunchArgument(
+        'map',
+        default_value='test_map.yaml',
+        description='Full path to map file to load')
+
+    declare_use_sim_time_cmd = launch.actions.DeclareLaunchArgument(
+        'use_sim_time', 
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
 
     declare_use_simulation_cmd = launch.actions.DeclareLaunchArgument(
         'use_simulation', condition=IfCondition('True'),
-        default_value='True', description='Whether to run in simulation')
+        default_value='True', 
+        description='Whether to run in simulation')
 
     declare_simulator_cmd = launch.actions.DeclareLaunchArgument(
         'simulator',
-        default_value='gzserver', description='The simulator to use (gazebo or gzserver)')
+        default_value='gzserver', 
+        description='The simulator to use (gazebo or gzserver)')
 
     declare_world_cmd = launch.actions.DeclareLaunchArgument(
         'world',
-        default_value=os.path.join(
-            get_package_share_directory('turtlebot3_gazebo'),
-            'worlds/turtlebot3_worlds/burger.model'),
+        default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds/turtlebot3_worlds/burger.model'),
         description='Full path to world file to load')
 
     declare_params_file_cmd = launch.actions.DeclareLaunchArgument(
-        'params_file',
+        'params',
+        default_value='nav2_params.yaml',
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
-    launch_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
-    gz = launch.substitutions.LaunchConfiguration('gz', default=['gzserver'])
+    map_server_params = {
+        "yaml_filename" : "/home/mjeronimo/src/navigation2/nav2_bringup/launch/test_map.yaml"
+    }
 
     # Specify the actions
-
     start_gazebo_cmd = launch.actions.ExecuteProcess(
         condition=IfCondition(use_simulation),
-        cmd=[simulator, '-s', 'libgazebo_ros_init.so', world, ['__params:=', params_file]],
+        cmd=[simulator, '-s', 'libgazebo_ros_init.so', world],
         cwd=[launch_dir], output='screen')
 
     start_robot_state_publisher_cmd = launch.actions.ExecuteProcess(
-        condition=IfCondition(use_simulation),
         cmd=[
             os.path.join(
                 get_package_prefix('robot_state_publisher'),
@@ -126,30 +143,35 @@ def generate_launch_description():
             ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
-    start_controller_cmd = launch.actions.ExecuteProcess(
+    start_lifecycle_manager_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
-                get_package_prefix('nav2_controller'),
-                'lib/nav2_controller/nav2_controller'),
+                get_package_prefix('nav2_lifecycle_manager'),
+                'lib/nav2_lifecycle_manager/lifecycle_manager'),
             ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     # Create the launch description and populate
     ld = launch.LaunchDescription()
 
-    # First, declare the launch options
+    # Declare the launch options
+    ld.add_action(declare_map_yaml_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_use_simulation_cmd)
     ld.add_action(declare_simulator_cmd)
     ld.add_action(declare_world_cmd)
+    ld.add_action(declare_params_file_cmd)
 
-    # Then, add the actions to launch the simulator-related nodes (conditioned on 'use_simulation')
+    # Add any actions to launch in simulation (conditioned on 'use_simulation')
     ld.add_action(start_gazebo_cmd)
+
+    # Add other nodes and processes we need
     ld.add_action(start_robot_state_publisher_cmd)
     ld.add_action(start_rviz_cmd)
     ld.add_action(exit_event_handler)
 
-    # Next, add the actions to launch all of the navigation nodes
-    ld.add_action(start_controller_cmd)
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(start_lifecycle_manager_cmd)
     ld.add_action(start_map_server_cmd)
     ld.add_action(start_localizer_cmd)
     ld.add_action(start_world_model_cmd)