diff --git a/nav2_bringup/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
index 548b021c7a5ee8185e97f227446b5e65b950417f..f9921217779c71e7eea799b347dc43c72e514d65 100644
--- a/nav2_bringup/CMakeLists.txt
+++ b/nav2_bringup/CMakeLists.txt
@@ -8,5 +8,9 @@ find_package(navigation2 REQUIRED)
nav2_package()
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
ament_package()
diff --git a/nav2_bringup/launch/gazebo_rviz2_launch.py b/nav2_bringup/launch/gazebo_rviz2_launch.py
deleted file mode 100644
index 1b3acaf4afd680fedce431c35d789cb23383c8b0..0000000000000000000000000000000000000000
--- a/nav2_bringup/launch/gazebo_rviz2_launch.py
+++ /dev/null
@@ -1,34 +0,0 @@
-# Copyright (c) 2019 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
-import sys
-from launch import LaunchDescription
-from launch.substitutions import EnvironmentVariable
-import launch.actions
-import launch_ros.actions
-
-def generate_launch_description():
- world = launch.substitutions.LaunchConfiguration('world')
-
- return LaunchDescription([
- launch.actions.DeclareLaunchArgument(
- 'world', description='Full path to world file to load'),
-
- launch.actions.ExecuteProcess(
- cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', world],
- output='screen'),
-
- launch_ros.actions.Node(package='rviz2', node_executable='rviz2', output='screen')
- ])
diff --git a/nav2_bringup/launch/nav2_bringup_launch.py b/nav2_bringup/launch/nav2_bringup_launch.py
index 285bd94837e3e39cf795e871e55a5e38f389600d..079f665f77763107baccc278d1710d563769f147 100644
--- a/nav2_bringup/launch/nav2_bringup_launch.py
+++ b/nav2_bringup/launch/nav2_bringup_launch.py
@@ -14,118 +14,89 @@
import os
-from ament_index_python.packages import get_package_prefix
-from ament_index_python.packages import get_package_share_directory
-from launch.conditions import IfCondition
+from ament_index_python.packages import get_package_prefix, get_package_share_directory
-import launch.actions
-import launch_ros.actions
-
-from nav2_common.launch import RewrittenYaml
+from launch import LaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription
+from launch_ros.actions import Node
def generate_launch_description():
# Get the launch directory
- launch_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
+ bringup_dir = get_package_share_directory('nav2_bringup')
+ launch_dir = os.path.join(bringup_dir, 'launch')
# Create the launch configuration variables
- map_yaml_file = launch.substitutions.LaunchConfiguration('map')
- use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time')
- params_file = launch.substitutions.LaunchConfiguration('params')
- bt_xml_file = launch.substitutions.LaunchConfiguration('bt_xml_file')
- autostart = launch.substitutions.LaunchConfiguration('autostart')
+ 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')
- stdout_linebuf_envvar = launch.actions.SetEnvironmentVariable(
+ stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
- # Create our own temporary YAML files that include substitutions
- param_substitutions = {
- 'use_sim_time': use_sim_time,
- 'yaml_filename': map_yaml_file,
- 'bt_xml_filename': bt_xml_file,
- 'autostart': autostart
- }
-
- configured_params = RewrittenYaml(
- source_file=params_file, rewrites=param_substitutions,
- convert_types=True)
-
# Declare the launch arguments
- declare_map_yaml_cmd = launch.actions.DeclareLaunchArgument(
+ declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
- default_value=os.path.join(launch_dir, 'turtlebot3_world.yaml'),
- description='Full path to map file to load')
+ description='Full path to map yaml file to load')
- declare_use_sim_time_cmd = launch.actions.DeclareLaunchArgument(
+ declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true')
- declare_params_file_cmd = launch.actions.DeclareLaunchArgument(
- 'params',
- default_value=os.path.join(launch_dir, 'nav2_params.yaml'),
+ 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_autostart_cmd = launch.actions.DeclareLaunchArgument(
- 'autostart', default_value='true',
- description='Automatically startup the nav2 stack')
-
- declare_bt_xml_cmd = launch.actions.DeclareLaunchArgument(
+ declare_bt_xml_cmd = DeclareLaunchArgument(
'bt_xml_file',
- default_value=os.path.join(get_package_prefix('nav2_bt_navigator'),
+ default_value=os.path.join(
+ get_package_prefix('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')
- start_map_server_cmd = launch_ros.actions.Node(
- package='nav2_map_server',
- node_executable='map_server',
- node_name='map_server',
- output='screen',
- parameters=[configured_params])
-
- start_localizer_cmd = launch_ros.actions.Node(
- package='nav2_amcl',
- node_executable='amcl',
- node_name='amcl',
- output='screen',
- parameters=[configured_params])
-
- start_dwb_cmd = launch_ros.actions.Node(
- package='dwb_controller',
- node_executable='dwb_controller',
- output='screen',
- parameters=[configured_params])
-
- start_planner_cmd = launch_ros.actions.Node(
- package='nav2_planner',
- node_executable='planner_server',
- node_name='planner_server',
- output='screen',
- parameters=[configured_params])
-
- start_recovery_cmd = launch_ros.actions.Node(
- package='nav2_recoveries',
- node_executable='recoveries_node',
- node_name='recoveries',
- output='screen',
- parameters=[{'use_sim_time': use_sim_time}])
-
- start_navigator_cmd = launch_ros.actions.Node(
- package='nav2_bt_navigator',
- node_executable='bt_navigator',
- node_name='bt_navigator',
- output='screen',
- parameters=[configured_params])
+ declare_autostart_cmd = DeclareLaunchArgument(
+ 'autostart', default_value='true',
+ description='Automatically startup the nav2 stack')
- start_lifecycle_manager_cmd = launch_ros.actions.Node(
+ # Specify the actions
+ start_localization_cmd = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_localization_launch.py')),
+ launch_arguments={'map': map_yaml_file,
+ 'use_sim_time': use_sim_time,
+ 'autostart': autostart,
+ 'params_file': params_file,
+ 'use_lifecycle_mgr': 'false'}.items())
+
+ start_navigation_cmd = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_navigation_launch.py')),
+ launch_arguments={'use_sim_time': use_sim_time,
+ 'autostart': autostart,
+ 'params_file': params_file,
+ 'bt_xml_file': bt_xml_file,
+ 'use_lifecycle_mgr': 'false',
+ 'map_subscribe_transient_local': 'true'}.items())
+
+ start_lifecycle_manager_cmd = Node(
package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
node_name='lifecycle_manager',
output='screen',
- parameters=[configured_params])
+ parameters=[{'use_sim_time': use_sim_time},
+ {'autostart': autostart},
+ {'node_names': ['map_server',
+ 'amcl',
+ 'dwb_controller',
+ 'planner_server',
+ 'bt_navigator']}])
# Create the launch description and populate
- ld = launch.LaunchDescription()
+ ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
@@ -139,11 +110,7 @@ def generate_launch_description():
# 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_dwb_cmd)
- ld.add_action(start_planner_cmd)
- ld.add_action(start_recovery_cmd)
- ld.add_action(start_navigator_cmd)
+ ld.add_action(start_localization_cmd)
+ ld.add_action(start_navigation_cmd)
return ld
diff --git a/nav2_bringup/launch/nav2_localization_launch.py b/nav2_bringup/launch/nav2_localization_launch.py
index 1529361bc12dcc1f2f595af6fca17bdee10c0309..fd0b89ddbc28ac6e4a907a94dd132a1ff6f86897 100644
--- a/nav2_bringup/launch/nav2_localization_launch.py
+++ b/nav2_bringup/launch/nav2_localization_launch.py
@@ -12,73 +12,86 @@
# See the License for the specific language governing permissions and
# limitations under the License.
-import launch.actions
-from launch import LaunchDescription
+import os
-import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
from nav2_common.launch import RewrittenYaml
+from launch import LaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch_ros.actions import Node
+
def generate_launch_description():
- map_yaml_file = launch.substitutions.LaunchConfiguration('map')
- use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time',
- default='false')
- autostart = launch.substitutions.LaunchConfiguration('autostart')
- params_file = launch.substitutions.LaunchConfiguration('params')
+ # Get the launch directory
+ bringup_dir = get_package_share_directory('nav2_bringup')
+
+ map_yaml_file = LaunchConfiguration('map')
+ use_sim_time = LaunchConfiguration('use_sim_time')
+ autostart = LaunchConfiguration('autostart')
+ params_file = LaunchConfiguration('params_file')
+ use_lifecycle_mgr = LaunchConfiguration('use_lifecycle_mgr')
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
- 'yaml_filename': map_yaml_file
- }
+ 'yaml_filename': map_yaml_file}
+
configured_params = RewrittenYaml(
- source_file=params_file, rewrites=param_substitutions,
+ source_file=params_file,
+ rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
- launch.actions.SetEnvironmentVariable(
- 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
- launch.actions.DeclareLaunchArgument(
- 'map', description='Full path to map file to load'),
+ DeclareLaunchArgument(
+ 'map',
+ default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+ description='Full path to map yaml file to load'),
- launch.actions.DeclareLaunchArgument(
+ DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
- launch.actions.DeclareLaunchArgument(
+ DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
- launch.actions.DeclareLaunchArgument(
- 'params',
- default_value=[launch.substitutions.ThisLaunchFileDir(),
- '/nav2_params.yaml'],
+ DeclareLaunchArgument(
+ 'params_file',
+ default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
- launch_ros.actions.Node(
+ DeclareLaunchArgument(
+ 'use_lifecycle_mgr', default_value='true',
+ description='Whether to launch the lifecycle manager'),
+
+ Node(
package='nav2_map_server',
node_executable='map_server',
node_name='map_server',
output='screen',
parameters=[configured_params]),
- launch_ros.actions.Node(
+ Node(
package='nav2_amcl',
node_executable='amcl',
node_name='amcl',
output='screen',
parameters=[configured_params]),
- launch_ros.actions.Node(
+ Node(
+ condition=IfCondition(use_lifecycle_mgr),
package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
- node_name='lifecycle_manager_localize',
+ node_name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
- {'node_names': ['map_server', 'amcl']}]),
-
+ {'node_names': ['map_server', 'amcl']}])
])
diff --git a/nav2_bringup/launch/nav2_navigation_launch.py b/nav2_bringup/launch/nav2_navigation_launch.py
index 3be794f0f116cfac64ac894fc2b5231296f4e03c..c92aa1723c52c797a2b567a1f044bf23404fe375 100644
--- a/nav2_bringup/launch/nav2_navigation_launch.py
+++ b/nav2_bringup/launch/nav2_navigation_launch.py
@@ -14,91 +14,103 @@
import os
-from launch import LaunchDescription
-import launch.actions
-
-import launch_ros.actions
-
-from ament_index_python.packages import get_package_prefix
+from ament_index_python.packages import get_package_prefix, get_package_share_directory
from nav2_common.launch import RewrittenYaml
+from launch import LaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch_ros.actions import Node
+
def generate_launch_description():
- use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time',
- default='false')
- autostart = launch.substitutions.LaunchConfiguration('autostart')
- params_file = launch.substitutions.LaunchConfiguration('params')
- bt_xml_file = launch.substitutions.LaunchConfiguration('bt_xml_file')
+ # Get the launch directory
+ bringup_dir = get_package_share_directory('nav2_bringup')
+
+ use_sim_time = LaunchConfiguration('use_sim_time')
+ autostart = LaunchConfiguration('autostart')
+ params_file = LaunchConfiguration('params_file')
+ bt_xml_file = LaunchConfiguration('bt_xml_file')
+ use_lifecycle_mgr = LaunchConfiguration('use_lifecycle_mgr')
+ map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'bt_xml_filename': bt_xml_file,
'autostart': autostart,
- 'map_subscribe_transient_local': 'False'
- }
+ 'map_subscribe_transient_local': map_subscribe_transient_local}
configured_params = RewrittenYaml(
- source_file=params_file, rewrites=param_substitutions,
- convert_types=True)
+ source_file=params_file,
+ rewrites=param_substitutions,
+ convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
- launch.actions.SetEnvironmentVariable(
- 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
- launch.actions.DeclareLaunchArgument(
+ DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
- launch.actions.DeclareLaunchArgument(
+ DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
- launch.actions.DeclareLaunchArgument(
- 'params',
- default_value=[launch.substitutions.ThisLaunchFileDir(),
- '/nav2_params.yaml'],
+ DeclareLaunchArgument(
+ 'params_file',
+ default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
- launch.actions.DeclareLaunchArgument(
+ DeclareLaunchArgument(
'bt_xml_file',
default_value=os.path.join(get_package_prefix('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
- launch_ros.actions.Node(
+ DeclareLaunchArgument(
+ 'use_lifecycle_mgr', default_value='true',
+ description='Whether to launch the lifecycle manager'),
+
+ DeclareLaunchArgument(
+ 'map_subscribe_transient_local', default_value='false',
+ description='Whether to set the map subscriber QoS to transient local'),
+
+ Node(
package='dwb_controller',
node_executable='dwb_controller',
output='screen',
parameters=[configured_params]),
- launch_ros.actions.Node(
+ Node(
package='nav2_planner',
node_executable='planner_server',
node_name='planner_server',
output='screen',
parameters=[configured_params]),
- launch_ros.actions.Node(
+ Node(
package='nav2_recoveries',
node_executable='recoveries_node',
node_name='recoveries',
output='screen',
parameters=[{'use_sim_time': use_sim_time}]),
- launch_ros.actions.Node(
+ Node(
package='nav2_bt_navigator',
node_executable='bt_navigator',
node_name='bt_navigator',
output='screen',
parameters=[configured_params]),
- launch_ros.actions.Node(
+ Node(
+ condition=IfCondition(use_lifecycle_mgr),
package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
- node_name='lifecycle_manager_control',
+ node_name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
diff --git a/nav2_bringup/launch/nav2_simulation_launch.py b/nav2_bringup/launch/nav2_simulation_launch.py
deleted file mode 100644
index 9f3045136e4f9bae25444ee446e3dcb359d6c88a..0000000000000000000000000000000000000000
--- a/nav2_bringup/launch/nav2_simulation_launch.py
+++ /dev/null
@@ -1,222 +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.
-
-""" This is all-in-one launch script intended for use by nav2 developers. """
-
-import os
-
-from ament_index_python.packages import get_package_prefix
-from ament_index_python.packages import get_package_share_directory
-from launch.conditions import IfCondition
-from nav2_common.launch import RewrittenYaml
-
-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
- autostart = launch.substitutions.LaunchConfiguration('autostart')
- bt_xml_file = launch.substitutions.LaunchConfiguration('bt')
- map_yaml_file = launch.substitutions.LaunchConfiguration('map')
- params_file = launch.substitutions.LaunchConfiguration('params')
- rviz_config_file = launch.substitutions.LaunchConfiguration('rviz_config')
- simulator = launch.substitutions.LaunchConfiguration('simulator')
- use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time')
- use_simulation = launch.substitutions.LaunchConfiguration('use_simulation')
- world = launch.substitutions.LaunchConfiguration('world')
-
- # Create our own temporary YAML files that include the following parameter substitutions
- param_substitutions = {
- 'autostart': autostart,
- 'bt_xml_filename': bt_xml_file,
- 'use_sim_time': use_sim_time,
- 'yaml_filename': map_yaml_file
- }
- configured_params = RewrittenYaml(
- source_file=params_file, rewrites=param_substitutions, convert_types=True)
-
- # Declare the launch arguments
- declare_autostart_cmd = launch.actions.DeclareLaunchArgument(
- 'autostart',
- default_value='false',
- description='Automatically startup the nav2 stack')
-
- declare_bt_xml_cmd = launch.actions.DeclareLaunchArgument(
- 'bt',
- default_value=os.path.join(
- get_package_prefix('nav2_bt_navigator'),
- 'behavior_trees/navigate_w_replanning_and_recovery.xml'),
- description='Full path to the Behavior Tree XML file to use for the BT navigator')
-
- declare_map_yaml_cmd = launch.actions.DeclareLaunchArgument(
- 'map',
- default_value='turtlebot3_world.yaml',
- description='Full path to map file to load')
-
- declare_params_file_cmd = launch.actions.DeclareLaunchArgument(
- 'params',
- default_value=[launch.substitutions.ThisLaunchFileDir(), '/nav2_params.yaml'],
- description='Full path to the ROS2 parameters file to use for all launched nodes')
-
- declare_rviz_config_file_cmd = launch.actions.DeclareLaunchArgument(
- 'rviz_config',
- default_value='nav2_default_view.rviz',
- description='Full path to the RVIZ config file to use')
-
- declare_simulator_cmd = launch.actions.DeclareLaunchArgument(
- 'simulator',
- default_value='gazebo',
- description='The simulator to use (gazebo or gzserver)')
-
- declare_use_sim_time_cmd = launch.actions.DeclareLaunchArgument(
- 'use_sim_time',
- default_value='true',
- description='Use simulation (Gazebo) clock if true')
-
- declare_use_simulation_cmd = launch.actions.DeclareLaunchArgument(
- 'use_simulation',
- default_value='True',
- description='Whether to run in simulation')
-
- declare_world_cmd = launch.actions.DeclareLaunchArgument(
- 'world',
- default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
- 'worlds/turtlebot3_worlds/waffle.model'),
- description='Full path to world file to load')
-
- stdout_linebuf_envvar = launch.actions.SetEnvironmentVariable(
- 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
-
- # Specify the actions
- start_gazebo_cmd = launch.actions.ExecuteProcess(
- condition=IfCondition(use_simulation),
- cmd=[simulator, '-s', 'libgazebo_ros_init.so', world],
- cwd=[launch_dir], output='screen')
-
- start_robot_state_publisher_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('robot_state_publisher'),
- 'lib/robot_state_publisher/robot_state_publisher'),
- os.path.join(
- get_package_share_directory('turtlebot3_description'),
- 'urdf', 'turtlebot3_waffle.urdf'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_rviz_cmd = launch.actions.ExecuteProcess(
- cmd=[os.path.join(get_package_prefix('rviz2'), 'lib/rviz2/rviz2'),
- ['-d', rviz_config_file]],
- cwd=[launch_dir], output='screen')
-
- exit_event_handler = launch.actions.RegisterEventHandler(
- event_handler=launch.event_handlers.OnProcessExit(
- target_action=start_rviz_cmd,
- on_exit=launch.actions.EmitEvent(event=launch.events.Shutdown(reason='rviz exited'))))
-
- start_map_server_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('nav2_map_server'),
- 'lib/nav2_map_server/map_server'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_localizer_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('nav2_amcl'),
- 'lib/nav2_amcl/amcl'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_planner_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('nav2_planner'),
- 'lib/nav2_planner/planner_server'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_dwb_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('dwb_controller'),
- 'lib/dwb_controller/dwb_controller'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_navigator_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('nav2_bt_navigator'),
- 'lib/nav2_bt_navigator/bt_navigator'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_recovery_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('nav2_recoveries'),
- 'lib/nav2_recoveries/recoveries_node'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- start_lifecycle_manager_cmd = launch.actions.ExecuteProcess(
- cmd=[
- os.path.join(
- get_package_prefix('nav2_lifecycle_manager'),
- 'lib/nav2_lifecycle_manager/lifecycle_manager'),
- '--ros-args', '--params-file', configured_params],
- cwd=[launch_dir], output='screen')
-
- # Create the launch description and populate
- ld = launch.LaunchDescription()
-
- # Declare the launch options
- ld.add_action(declare_autostart_cmd)
- ld.add_action(declare_bt_xml_cmd)
- ld.add_action(declare_map_yaml_cmd)
- ld.add_action(declare_params_file_cmd)
- ld.add_action(declare_rviz_config_file_cmd)
- ld.add_action(declare_simulator_cmd)
- ld.add_action(declare_use_sim_time_cmd)
- ld.add_action(declare_use_simulation_cmd)
- ld.add_action(declare_world_cmd)
-
- # Set environment variables
- ld.add_action(stdout_linebuf_envvar)
-
- # 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)
-
- # 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_dwb_cmd)
- ld.add_action(start_planner_cmd)
- ld.add_action(start_navigator_cmd)
- ld.add_action(start_recovery_cmd)
-
- return ld
diff --git a/nav2_bringup/launch/nav2_tb3_simulation_launch.py b/nav2_bringup/launch/nav2_tb3_simulation_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..013a9ae4431617f84ed36da17483cb65084683ac
--- /dev/null
+++ b/nav2_bringup/launch/nav2_tb3_simulation_launch.py
@@ -0,0 +1,171 @@
+# 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.
+
+""" This is all-in-one launch script intended for use by nav2 developers. """
+
+import os
+
+from ament_index_python.packages import get_package_prefix, get_package_share_directory
+
+from launch import LaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+from launch.actions import (DeclareLaunchArgument, SetEnvironmentVariable,
+ IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler, EmitEvent)
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ # Get the launch directory
+ bringup_dir = get_package_share_directory('nav2_bringup')
+ launch_dir = os.path.join(bringup_dir, 'launch')
+
+ # Create the launch configuration variables
+ 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')
+
+ # Launch configuration variables specific to simulation
+ rviz_config_file = LaunchConfiguration('rviz_config_file')
+ use_simulator = LaunchConfiguration('use_simulator')
+ simulator = LaunchConfiguration('simulator')
+ world = LaunchConfiguration('world')
+
+ # Declare the launch arguments
+ declare_map_yaml_cmd = DeclareLaunchArgument(
+ 'map',
+ default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+ description='Full path to map file to load')
+
+ declare_use_sim_time_cmd = DeclareLaunchArgument(
+ 'use_sim_time',
+ default_value='true',
+ 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_prefix('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='false',
+ description='Automatically startup the nav2 stack')
+
+ declare_rviz_config_file_cmd = DeclareLaunchArgument(
+ 'rviz_config_file',
+ default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
+ description='Full path to the RVIZ config file to use')
+
+ declare_use_simulator_cmd = DeclareLaunchArgument(
+ 'use_simulator',
+ default_value='True',
+ description='Whether to start the simulator')
+
+ declare_simulator_cmd = DeclareLaunchArgument(
+ 'simulator',
+ default_value='gazebo',
+ description='The simulator to use (gazebo or gzserver)')
+
+ declare_world_cmd = DeclareLaunchArgument(
+ 'world',
+ # TODO(orduno) Switch back once ROS argument passing has been fixed upstream
+ # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
+ # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
+ # 'worlds/turtlebot3_worlds/waffle.model'),
+ default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
+ description='Full path to world model file to load')
+
+ # Specify the actions
+ start_gazebo_cmd = ExecuteProcess(
+ condition=IfCondition(use_simulator),
+ cmd=[simulator, '-s', 'libgazebo_ros_init.so', world],
+ cwd=[launch_dir], output='screen')
+
+ urdf = os.path.join(
+ get_package_share_directory('turtlebot3_description'), 'urdf', 'turtlebot3_waffle.urdf')
+
+ start_robot_state_publisher_cmd = Node(
+ package='robot_state_publisher',
+ node_executable='robot_state_publisher',
+ node_name='robot_state_publisher',
+ output='screen',
+ parameters=[{'use_sim_time': use_sim_time}],
+ arguments=[urdf])
+
+ # TODO(orduno) RVIZ crashing if launched as a node: https://github.com/ros2/rviz/issues/442
+ # Launching as node works after applying the change described on the github issue.
+ # start_rviz_cmd = Node(
+ # package='rviz2',
+ # node_executable='rviz2',
+ # node_name='rviz2',
+ # arguments=['-d', rviz_config_file],
+ # output='screen')
+
+ start_rviz_cmd = ExecuteProcess(
+ cmd=[os.path.join(get_package_prefix('rviz2'), 'lib/rviz2/rviz2'),
+ ['-d', rviz_config_file]],
+ cwd=[launch_dir], output='screen')
+
+ exit_event_handler = RegisterEventHandler(
+ event_handler=OnProcessExit(
+ target_action=start_rviz_cmd,
+ on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
+
+ bringup_cmd = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_bringup_launch.py')),
+ launch_arguments={'map': map_yaml_file,
+ 'use_sim_time': use_sim_time,
+ 'params_file': params_file,
+ 'bt_xml_file': bt_xml_file,
+ 'autostart': autostart}.items())
+
+ # Create the launch description and populate
+ ld = LaunchDescription()
+
+ # Declare the launch options
+ 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_bt_xml_cmd)
+ ld.add_action(declare_autostart_cmd)
+
+ ld.add_action(declare_rviz_config_file_cmd)
+ ld.add_action(declare_use_simulator_cmd)
+ ld.add_action(declare_simulator_cmd)
+ ld.add_action(declare_world_cmd)
+
+ # Add any actions to launch in simulation (conditioned on 'use_simulator')
+ ld.add_action(start_gazebo_cmd)
+
+ # Add other nodes and processes we need
+ ld.add_action(start_rviz_cmd)
+ ld.add_action(exit_event_handler)
+
+ # Add the actions to launch all of the navigation nodes
+ ld.add_action(start_robot_state_publisher_cmd)
+ ld.add_action(bringup_cmd)
+
+ return ld
diff --git a/nav2_bringup/launch/turtlebot3_world.pgm b/nav2_bringup/maps/turtlebot3_world.pgm
similarity index 100%
rename from nav2_bringup/launch/turtlebot3_world.pgm
rename to nav2_bringup/maps/turtlebot3_world.pgm
diff --git a/nav2_bringup/launch/turtlebot3_world.yaml b/nav2_bringup/maps/turtlebot3_world.yaml
similarity index 100%
rename from nav2_bringup/launch/turtlebot3_world.yaml
rename to nav2_bringup/maps/turtlebot3_world.yaml
diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
index a72e1233fec3c190b477ef41d4c7147e5896ff50..f09f5fab3c52b1769356254959e083d40c351723 100644
--- a/nav2_bringup/package.xml
+++ b/nav2_bringup/package.xml
@@ -6,6 +6,7 @@
<description>Bringup scripts and configurations for the navigation2 stack</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
+ <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/nav2_bringup/launch/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
similarity index 91%
rename from nav2_bringup/launch/nav2_params.yaml
rename to nav2_bringup/params/nav2_params.yaml
index bd19d8632ff2d3f373ab2abfc3ac8f4577519ce5..0be0e53b4d62c12d099939d87d63a6d032d19389 100644
--- a/nav2_bringup/launch/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -148,21 +148,6 @@ map_server:
use_sim_time: True
yaml_filename: "turtlebot3_world.yaml"
-lifecycle_manager:
- ros__parameters:
- use_sim_time: True
- autostart: True
- node_names: ['map_server', 'amcl', 'dwb_controller',
- 'planner_server', 'bt_navigator']
-
-lifecycle_manager_service_client:
- ros__parameters:
- use_sim_time: True
-
-lifecycle_manager_client_service_client:
- ros__parameters:
- use_sim_time: True
-
navfn_planner:
ros__parameters:
use_sim_time: True
diff --git a/nav2_bringup/launch/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
similarity index 100%
rename from nav2_bringup/launch/nav2_default_view.rviz
rename to nav2_bringup/rviz/nav2_default_view.rviz
diff --git a/nav2_bringup/worlds/waffle.model b/nav2_bringup/worlds/waffle.model
new file mode 100644
index 0000000000000000000000000000000000000000..d065ae1cd88faf5fc2ff93aac00aa8eaee16958a
--- /dev/null
+++ b/nav2_bringup/worlds/waffle.model
@@ -0,0 +1,577 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+ <world name="default">
+
+ <include>
+ <uri>model://ground_plane</uri>
+ </include>
+
+ <include>
+ <uri>model://sun</uri>
+ </include>
+
+ <scene>
+ <shadows>false</shadows>
+ </scene>
+
+ <gui fullscreen='0'>
+ <camera name='user_camera'>
+ <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+ <view_controller>orbit</view_controller>
+ <projection_type>perspective</projection_type>
+ </camera>
+ </gui>
+
+ <physics type="ode">
+ <real_time_update_rate>1000.0</real_time_update_rate>
+ <max_step_size>0.001</max_step_size>
+ <real_time_factor>1</real_time_factor>
+ <ode>
+ <solver>
+ <type>quick</type>
+ <iters>150</iters>
+ <precon_iters>0</precon_iters>
+ <sor>1.400000</sor>
+ <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+ </solver>
+ <constraints>
+ <cfm>0.00001</cfm>
+ <erp>0.2</erp>
+ <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+ <contact_surface_layer>0.01000</contact_surface_layer>
+ </constraints>
+ </ode>
+ </physics>
+
+ <model name="turtlebot3_world">
+ <static>1</static>
+ <include>
+ <uri>model://turtlebot3_world</uri>
+ </include>
+ </model>
+
+ <model name="turtlebot3_waffle">
+ <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
+
+ <link name="base_footprint"/>
+
+ <link name="base_link">
+
+ <inertial>
+ <pose>-0.064 0 0.048 0 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>1.0</mass>
+ </inertial>
+
+ <collision name="base_collision">
+ <pose>-0.064 0 0.048 0 0 0</pose>
+ <geometry>
+ <box>
+ <size>0.265 0.265 0.089</size>
+ </box>
+ </geometry>
+ </collision>
+
+ <visual name="base_visual">
+ <pose>-0.064 0 0 0 0 0</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
+ <scale>0.001 0.001 0.001</scale>
+ </mesh>
+ </geometry>
+ </visual>
+ </link>
+
+ <link name="imu_link">
+ <sensor name="tb3_imu" type="imu">
+ <always_on>true</always_on>
+ <update_rate>200</update_rate>
+ <imu>
+ <angular_velocity>
+ <x>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </z>
+ </angular_velocity>
+ <linear_acceleration>
+ <x>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ </noise>
+ </z>
+ </linear_acceleration>
+ </imu>
+ <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ <argument>--ros-args</argument>
+ <argument>-r</argument>
+ <argument>~/out:=imu</argument>
+ </ros>
+ </plugin>
+ </sensor>
+ </link>
+
+ <link name="base_scan">
+ <inertial>
+ <pose>-0.052 0 0.111 0 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.125</mass>
+ </inertial>
+
+ <collision name="lidar_sensor_collision">
+ <pose>-0.052 0 0.111 0 0 0</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.0508</radius>
+ <length>0.055</length>
+ </cylinder>
+ </geometry>
+ </collision>
+
+ <visual name="lidar_sensor_visual">
+ <pose>-0.064 0 0.121 0 0 0</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
+ <scale>0.001 0.001 0.001</scale>
+ </mesh>
+ </geometry>
+ </visual>
+
+ <sensor name="hls_lfcd_lds" type="ray">
+ <always_on>true</always_on>
+ <visualize>true</visualize>
+ <pose>-0.064 0 0.121 0 0 0</pose>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1.000000</resolution>
+ <min_angle>0.000000</min_angle>
+ <max_angle>6.280000</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120000</min>
+ <max>3.5</max>
+ <resolution>0.015000</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ <argument>--ros-args</argument>
+ <argument>-r </argument>
+ <argument>~/out:=scan</argument>
+ </ros>
+ <output_type>sensor_msgs/LaserScan</output_type>
+ <frame_name>base_scan</frame_name>
+ </plugin>
+ </sensor>
+ </link>
+
+ <link name="wheel_left_link">
+
+ <inertial>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.1</mass>
+ </inertial>
+
+ <collision name="wheel_left_collision">
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.033</radius>
+ <length>0.018</length>
+ </cylinder>
+ </geometry>
+ <surface>
+ <!-- This friction pamareter don't contain reliable data!! -->
+ <friction>
+ <ode>
+ <mu>100000.0</mu>
+ <mu2>100000.0</mu2>
+ <fdir1>0 0 0</fdir1>
+ <slip1>0.0</slip1>
+ <slip2>0.0</slip2>
+ </ode>
+ </friction>
+ <contact>
+ <ode>
+ <soft_cfm>0</soft_cfm>
+ <soft_erp>0.2</soft_erp>
+ <kp>1e+5</kp>
+ <kd>1</kd>
+ <max_vel>0.01</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ </surface>
+ </collision>
+
+ <visual name="wheel_left_visual">
+ <pose>0.0 0.144 0.023 0 0 0</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
+ <scale>0.001 0.001 0.001</scale>
+ </mesh>
+ </geometry>
+ </visual>
+ </link>
+
+ <link name="wheel_right_link">
+
+ <inertial>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.1</mass>
+ </inertial>
+
+ <collision name="wheel_right_collision">
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.033</radius>
+ <length>0.018</length>
+ </cylinder>
+ </geometry>
+ <surface>
+ <!-- This friction pamareter don't contain reliable data!! -->
+ <friction>
+ <ode>
+ <mu>100000.0</mu>
+ <mu2>100000.0</mu2>
+ <fdir1>0 0 0</fdir1>
+ <slip1>0.0</slip1>
+ <slip2>0.0</slip2>
+ </ode>
+ </friction>
+ <contact>
+ <ode>
+ <soft_cfm>0</soft_cfm>
+ <soft_erp>0.2</soft_erp>
+ <kp>1e+5</kp>
+ <kd>1</kd>
+ <max_vel>0.01</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ </surface>
+ </collision>
+
+ <visual name="wheel_right_visual">
+ <pose>0.0 -0.144 0.023 0 0 0</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
+ <scale>0.001 0.001 0.001</scale>
+ </mesh>
+ </geometry>
+ </visual>
+ </link>
+
+ <link name='caster_back_right_link'>
+ <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+ <inertial>
+ <mass>0.001</mass>
+ <inertia>
+ <ixx>0.00001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.00001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.00001</izz>
+ </inertia>
+ </inertial>
+ <collision name='collision'>
+ <geometry>
+ <sphere>
+ <radius>0.005000</radius>
+ </sphere>
+ </geometry>
+ <surface>
+ <contact>
+ <ode>
+ <soft_cfm>0</soft_cfm>
+ <soft_erp>0.2</soft_erp>
+ <kp>1e+5</kp>
+ <kd>1</kd>
+ <max_vel>0.01</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ </surface>
+ </collision>
+ </link>
+
+ <link name='caster_back_left_link'>
+ <pose>-0.177 0.064 -0.004 0 0 0</pose>
+ <inertial>
+ <mass>0.001</mass>
+ <inertia>
+ <ixx>0.00001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.00001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.00001</izz>
+ </inertia>
+ </inertial>
+ <collision name='collision'>
+ <geometry>
+ <sphere>
+ <radius>0.005000</radius>
+ </sphere>
+ </geometry>
+ <surface>
+ <contact>
+ <ode>
+ <soft_cfm>0</soft_cfm>
+ <soft_erp>0.2</soft_erp>
+ <kp>1e+5</kp>
+ <kd>1</kd>
+ <max_vel>0.01</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ </surface>
+ </collision>
+ </link>
+
+ <link name="camera_link"/>
+
+ <link name="camera_rgb_frame">
+ <inertial>
+ <pose>0.069 -0.047 0.107 0 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.035</mass>
+ </inertial>
+
+ <collision name="collision">
+ <pose>0 0.047 0 0 0 0</pose>
+ <geometry>
+ <box>
+ <size>0.008 0.130 0.022</size>
+ </box>
+ </geometry>
+ </collision>
+ <pose>0.069 -0.047 0.107 0 0 0</pose>
+ <sensor name="camera" type="camera">
+ <always_on>true</always_on>
+ <visualize>true</visualize>
+ <update_rate>30</update_rate>
+ <camera name="intel_realsense_r200">
+ <horizontal_fov>1.02974</horizontal_fov>
+ <image>
+ <width>1920</width>
+ <height>1080</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.02</near>
+ <far>300</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise is sampled independently per pixel on each frame.
+ That pixel's noise value is added to each of its color
+ channels, which at that point lie in the range [0,1]. -->
+ <mean>0.0</mean>
+ <stddev>0.007</stddev>
+ </noise>
+ </camera>
+ <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+ <ros>
+ <!-- <namespace>test_cam</namespace> -->
+ <!-- <argument>image_raw:=image_demo</argument> -->
+ <!-- <argument>camera_info:=camera_info_demo</argument> -->
+ </ros>
+ <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+ <!-- frame_name>omit so it defaults to link name</frameName-->
+ <!-- <hack_baseline>0.07</hack_baseline> -->
+ </plugin>
+ </sensor>
+ </link>
+
+ <joint name="base_joint" type="fixed">
+ <parent>base_footprint</parent>
+ <child>base_link</child>
+ <pose>0.0 0.0 0.010 0 0 0</pose>
+ </joint>
+
+ <joint name="wheel_left_joint" type="revolute">
+ <parent>base_link</parent>
+ <child>wheel_left_link</child>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <joint name="wheel_right_joint" type="revolute">
+ <parent>base_link</parent>
+ <child>wheel_right_link</child>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <joint name='caster_back_right_joint' type='ball'>
+ <parent>base_link</parent>
+ <child>caster_back_right_link</child>
+ </joint>
+
+ <joint name='caster_back_left_joint' type='ball'>
+ <parent>base_link</parent>
+ <child>caster_back_left_link</child>
+ </joint>
+
+ <joint name="lidar_joint" type="fixed">
+ <parent>base_link</parent>
+ <child>base_scan</child>
+ <pose>-0.064 0 0.121 0 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <joint name="camera_joint" type="fixed">
+ <parent>base_link</parent>
+ <child>camera_link</child>
+ <pose>0.064 -0.065 0.094 0 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <parent>camera_link</parent>
+ <child>camera_rgb_frame</child>
+ <pose>0.005 0.018 0.013 0 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ </ros>
+
+ <update_rate>30</update_rate>
+
+ <!-- wheels -->
+ <left_joint>wheel_left_joint</left_joint>
+ <right_joint>wheel_right_joint</right_joint>
+
+ <!-- kinematics -->
+ <wheel_separation>0.287</wheel_separation>
+ <wheel_diameter>0.066</wheel_diameter>
+
+ <!-- limits -->
+ <max_wheel_torque>20</max_wheel_torque>
+ <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+ <command_topic>cmd_vel</command_topic>
+
+ <!-- output -->
+ <publish_odom>true</publish_odom>
+ <publish_odom_tf>true</publish_odom_tf>
+ <publish_wheel_tf>false</publish_wheel_tf>
+
+ <odometry_topic>odom</odometry_topic>
+ <odometry_frame>odom</odometry_frame>
+ <robot_base_frame>base_footprint</robot_base_frame>
+
+ </plugin>
+
+ <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ <argument>--ros-args</argument>
+ <argument>-r </argument>
+ <argument>~/out:=joint_states</argument>
+ </ros>
+ <update_rate>30</update_rate>
+ <joint_name>wheel_left_joint</joint_name>
+ <joint_name>wheel_right_joint</joint_name>
+ </plugin>
+
+ </model>
+
+ </world>
+</sdf>