diff --git a/nav2_bringup/launch/bt_navigator.xml b/nav2_bringup/launch/bt_navigator.xml
index 156e2fa8d4f95b1c7d07a747ac4c99d89a12db30..2667ed02011560eb9962a0f417cd3110005a3c54 100644
--- a/nav2_bringup/launch/bt_navigator.xml
+++ b/nav2_bringup/launch/bt_navigator.xml
@@ -1,3 +1,20 @@
+<!--
+ 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">
diff --git a/nav2_bringup/launch/nav2_bringup_launch.py b/nav2_bringup/launch/nav2_bringup_launch.py
index 3a332da1370de1539c2b489678b3ed15f7b43fae..05965ac2b15ecbc2709e47cb82dc7fbca7e8c57f 100644
--- a/nav2_bringup/launch/nav2_bringup_launch.py
+++ b/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)