From 6eac9ac092e73014941aaf05600de574ad73536e Mon Sep 17 00:00:00 2001
From: Michael Jeronimo <michael.jeronimo@intel.com>
Date: Fri, 7 Jun 2019 09:22:30 -0700
Subject: [PATCH] Add an all-in-one launch file for nav2 developers (#777)
* Add an all-in-one launch file for nav2 developers
* Add an option to specify the rviz config file
* Fix some errors found by Carl in review
---
nav2_bringup/launch/nav2_simulation_launch.py | 225 ++++++++++++++++++
1 file changed, 225 insertions(+)
create mode 100644 nav2_bringup/launch/nav2_simulation_launch.py
diff --git a/nav2_bringup/launch/nav2_simulation_launch.py b/nav2_bringup/launch/nav2_simulation_launch.py
new file mode 100644
index 00000000..276ebbee
--- /dev/null
+++ b/nav2_bringup/launch/nav2_simulation_launch.py
@@ -0,0 +1,225 @@
+# 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.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')
+
+ # 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'),
+ ['__params:=', 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'),
+ ['__params:=', 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'),
+ ['__params:=', configured_params]],
+ cwd=[launch_dir], output='screen')
+
+ start_world_model_cmd = launch.actions.ExecuteProcess(
+ cmd=[
+ os.path.join(
+ get_package_prefix('nav2_world_model'),
+ 'lib/nav2_world_model/world_model'),
+ ['__params:=', 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'),
+ ['__params:=', configured_params]],
+ cwd=[launch_dir], output='screen')
+
+ start_planner_cmd = launch.actions.ExecuteProcess(
+ cmd=[
+ os.path.join(
+ get_package_prefix('nav2_navfn_planner'),
+ 'lib/nav2_navfn_planner/navfn_planner'),
+ ['__params:=', 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'),
+ ['__params:=', configured_params]],
+ cwd=[launch_dir], output='screen')
+
+ start_motion_primitives_cmd = launch.actions.ExecuteProcess(
+ cmd=[
+ os.path.join(
+ get_package_prefix('nav2_motion_primitives'),
+ 'lib/nav2_motion_primitives/motion_primitives_node'),
+ ['__params:=', 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'),
+ ['__params:=', 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)
+
+ # 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_world_model_cmd)
+ ld.add_action(start_dwb_cmd)
+ ld.add_action(start_planner_cmd)
+ ld.add_action(start_navigator_cmd)
+ ld.add_action(start_motion_primitives_cmd)
+
+ return ld
--
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