diff --git a/nav2_bringup/bringup/launch/nav2_bringup_launch.py b/nav2_bringup/bringup/launch/nav2_bringup_launch.py
index 8f68d521abfc11f726ec5af1ec3cd20b2daa713d..7b79d334a7f5826c61c00f4a3436e51795a8e11e 100644
--- a/nav2_bringup/bringup/launch/nav2_bringup_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_bringup_launch.py
@@ -22,9 +22,9 @@ from launch.actions import (DeclareLaunchArgument, GroupAction,
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
-from nav2_common.launch import Node
def generate_launch_description():
@@ -40,7 +40,6 @@ def generate_launch_description():
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')
@@ -81,10 +80,6 @@ def generate_launch_description():
'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(
@@ -98,8 +93,7 @@ def generate_launch_description():
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
- 'use_lifecycle_mgr': 'false',
- 'use_remappings': use_remappings}.items()),
+ 'use_lifecycle_mgr': 'false'}.items()),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_navigation_launch.py')),
@@ -109,7 +103,6 @@ def generate_launch_description():
'params_file': params_file,
'bt_xml_file': bt_xml_file,
'use_lifecycle_mgr': 'false',
- 'use_remappings': use_remappings,
'map_subscribe_transient_local': 'true'}.items()),
Node(
@@ -142,7 +135,6 @@ def generate_launch_description():
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)
diff --git a/nav2_bringup/bringup/launch/nav2_localization_launch.py b/nav2_bringup/bringup/launch/nav2_localization_launch.py
index a0a17d076ef48ee7f1d180210aaab283314d71e0..ce25ca8c7dd5b75d7e2c7fb1bff2dbffab80485c 100644
--- a/nav2_bringup/bringup/launch/nav2_localization_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_localization_launch.py
@@ -20,8 +20,7 @@ from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
-
-from nav2_common.launch import Node
+from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
@@ -35,7 +34,6 @@ def generate_launch_description():
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
use_lifecycle_mgr = LaunchConfiguration('use_lifecycle_mgr')
- use_remappings = LaunchConfiguration('use_remappings')
# Map fully qualified names to relative ones so the node's namespace can be prepended.
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
@@ -43,9 +41,7 @@ def generate_launch_description():
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
- remappings = [((namespace, '/tf'), '/tf'),
- ((namespace, '/tf_static'), '/tf_static'),
- ('/tf', 'tf'),
+ remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
@@ -89,17 +85,12 @@ def generate_launch_description():
'use_lifecycle_mgr', default_value='true',
description='Whether to launch the lifecycle manager'),
- DeclareLaunchArgument(
- 'use_remappings', default_value='false',
- description='Arguments to pass to all nodes launched by the file'),
-
Node(
package='nav2_map_server',
node_executable='map_server',
node_name='map_server',
output='screen',
parameters=[configured_params],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
@@ -108,7 +99,6 @@ def generate_launch_description():
node_name='amcl',
output='screen',
parameters=[configured_params],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
diff --git a/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
index eb1ce88317f89844e3e70b634e85eda408928cd9..a95b29e963e65187e8d227736663f7ca14b76ee6 100644
--- a/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
@@ -154,7 +154,6 @@ def generate_launch_description():
'params_file': params_file,
'bt_xml_file': bt_xml_file,
'autostart': autostart,
- 'use_remappings': 'True',
'use_rviz': 'False',
'use_simulator': 'False',
'headless': 'False',
diff --git a/nav2_bringup/bringup/launch/nav2_navigation_launch.py b/nav2_bringup/bringup/launch/nav2_navigation_launch.py
index d1f689c22236ab76014130fcdc48480d276a092a..7adc0fdf96de09f57f0e309a9167d0579f6c0f29 100644
--- a/nav2_bringup/bringup/launch/nav2_navigation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_navigation_launch.py
@@ -20,8 +20,7 @@ from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
-
-from nav2_common.launch import Node
+from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
@@ -35,7 +34,6 @@ def generate_launch_description():
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
use_lifecycle_mgr = LaunchConfiguration('use_lifecycle_mgr')
- use_remappings = LaunchConfiguration('use_remappings')
map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
# Map fully qualified names to relative ones so the node's namespace can be prepended.
@@ -44,9 +42,7 @@ def generate_launch_description():
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
- remappings = [((namespace, '/tf'), '/tf'),
- ((namespace, '/tf_static'), '/tf_static'),
- ('/tf', 'tf'),
+ remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
@@ -94,10 +90,6 @@ def generate_launch_description():
'use_lifecycle_mgr', default_value='true',
description='Whether to launch the lifecycle manager'),
- DeclareLaunchArgument(
- 'use_remappings', default_value='false',
- description='Arguments to pass to all nodes launched by the file'),
-
DeclareLaunchArgument(
'map_subscribe_transient_local', default_value='false',
description='Whether to set the map subscriber QoS to transient local'),
@@ -107,7 +99,6 @@ def generate_launch_description():
node_executable='controller_server',
output='screen',
parameters=[configured_params],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
@@ -116,7 +107,6 @@ def generate_launch_description():
node_name='planner_server',
output='screen',
parameters=[configured_params],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
@@ -125,7 +115,6 @@ def generate_launch_description():
node_name='recoveries_server',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
@@ -134,7 +123,6 @@ def generate_launch_description():
node_name='bt_navigator',
output='screen',
parameters=[configured_params],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
@@ -143,7 +131,6 @@ def generate_launch_description():
node_name='waypoint_follower',
output='screen',
parameters=[configured_params],
- use_remappings=IfCondition(use_remappings),
remappings=remappings),
Node(
diff --git a/nav2_bringup/bringup/launch/nav2_rviz_launch.py b/nav2_bringup/bringup/launch/nav2_rviz_launch.py
index fcae590a75a3060a1a881fee081331e437dfb7d7..67ab0c3ff2dc6afe0c4b7537219aad9a6ffc2b41 100644
--- a/nav2_bringup/bringup/launch/nav2_rviz_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_rviz_launch.py
@@ -22,8 +22,8 @@ from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
from launch.substitutions import LaunchConfiguration
-
-from nav2_common.launch import Node, ReplaceString
+from launch_ros.actions import Node
+from nav2_common.launch import ReplaceString
def generate_launch_description():
@@ -73,7 +73,6 @@ def generate_launch_description():
node_namespace=namespace,
arguments=['-d', namespaced_rviz_config_file],
output='screen',
- use_remappings=IfCondition('True'),
remappings=[('/tf', 'tf'),
('/tf_static', 'tf_static'),
('/goal_pose', 'goal_pose'),
diff --git a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
index 08bf91da0251ff2404a2e464846d9ba5670572ac..b1206fc7b83116e6a64078116ffcfcb00dbe9bfc 100644
--- a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
@@ -23,8 +23,7 @@ from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchD
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
-
-from nav2_common.launch import Node
+from launch_ros.actions import Node
def generate_launch_description():
@@ -40,7 +39,6 @@ def generate_launch_description():
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
autostart = LaunchConfiguration('autostart')
- use_remappings = LaunchConfiguration('use_remappings')
# Launch configuration variables specific to simulation
rviz_config_file = LaunchConfiguration('rviz_config_file')
@@ -56,9 +54,7 @@ def generate_launch_description():
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
- remappings = [((namespace, '/tf'), '/tf'),
- ((namespace, '/tf_static'), '/tf_static'),
- ('/tf', 'tf'),
+ remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Declare the launch arguments
@@ -98,10 +94,6 @@ def generate_launch_description():
'autostart', default_value='false',
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')
-
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
@@ -157,7 +149,6 @@ def generate_launch_description():
node_namespace=namespace,
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
- use_remappings=IfCondition(use_remappings),
remappings=remappings,
arguments=[urdf])
@@ -189,7 +180,6 @@ def generate_launch_description():
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_bt_xml_cmd)
ld.add_action(declare_autostart_cmd)
- ld.add_action(declare_use_remappings_cmd)
ld.add_action(declare_rviz_config_file_cmd)
ld.add_action(declare_use_simulator_cmd)
diff --git a/nav2_common/nav2_common/launch/__init__.py b/nav2_common/nav2_common/launch/__init__.py
index 82764712d088abc82d282abfb6b4af42a2a626d8..1f0638f81a02babb117be0d3ec58e19c50980d2f 100644
--- a/nav2_common/nav2_common/launch/__init__.py
+++ b/nav2_common/nav2_common/launch/__init__.py
@@ -14,4 +14,3 @@
from .rewritten_yaml import RewrittenYaml
from .replace_string import ReplaceString
-from .node import Node
diff --git a/nav2_common/nav2_common/launch/node.py b/nav2_common/nav2_common/launch/node.py
deleted file mode 100644
index 2d16776f2778ccb4e534973da21059258e0b25d8..0000000000000000000000000000000000000000
--- a/nav2_common/nav2_common/launch/node.py
+++ /dev/null
@@ -1,97 +0,0 @@
-# Copyright 2018 Open Source Robotics Foundation, Inc.
-# 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.
-
-"""Module for the Node action."""
-
-from typing import List
-from typing import Optional
-
-from launch import Condition
-from launch.action import Action
-from launch.launch_context import LaunchContext
-
-import launch_ros
-
-class Node(launch_ros.actions.Node):
- def __init__(
- self, *,
- use_remappings: Optional[Condition] = None,
- **kwargs
- ) -> None:
- """
- Construct an Node action.
-
- Many arguments are passed eventually to
- :class:`launch.actions.ExecuteProcess`, so see the documentation of
- that class for additional details.
- However, the `cmd` is not meant to be used, instead use the
- `node_executable` and `arguments` keyword arguments to this function.
-
- This action, once executed, delegates most work to the
- :class:`launch.actions.ExecuteProcess`, but it also converts some ROS
- specific arguments into generic command line arguments.
-
- The launch_ros.substitutions.ExecutableInPackage substitution is used
- to find the executable at runtime, so this Action also raise the
- exceptions that substituion can raise when the package or executable
- are not found.
-
- If the node_name is not given (or is None) then no name is passed to
- the node on creation and instead the default name specified within the
- code of the node is used instead.
-
- The node_namespace can either be absolute (i.e. starts with /) or
- relative.
- If absolute, then nothing else is considered and this is passed
- directly to the node to set the namespace.
- If relative, the namespace in the 'ros_namespace' LaunchConfiguration
- will be prepended to the given relative node namespace.
- If no node_namespace is given, then the default namespace `/` is
- assumed.
-
- The parameters are passed as a list, with each element either a yaml
- file that contains parameter rules (string or pathlib.Path to the full
- path of the file), or a dictionary that specifies parameter rules.
- Keys of the dictionary can be strings or an iterable of Substitutions
- that will be expanded to a string.
- Values in the dictionary can be strings, integers, floats, or tuples
- of Substitutions that will be expanded to a string.
- Additionally, values in the dictionary can be lists of the
- aforementioned types, or another dictionary with the same properties.
- A yaml file with the resulting parameters from the dictionary will be
- written to a temporary file, the path to which will be passed to the
- node.
- Multiple dictionaries/files can be passed: each file path will be
- passed in in order to the node (where the last definition of a
- parameter takes effect).
-
- :param: package the package in which the node executable can be found
- :param: node_executable the name of the executable to find
- :param: node_name the name of the node
- :param: node_namespace the ros namespace for this Node
- :param: parameters list of names of yaml files with parameter rules,
- or dictionaries of parameters.
- :param: use_remappings whether to apply the remappings at runtime.
- :param: remappings ordered list of 'to' and 'from' string pairs to be
- passed to the node as ROS remapping rules
- :param: arguments list of extra arguments for the node
- """
- super().__init__(**kwargs)
- self.__use_remappings = use_remappings
-
- def execute(self, context: LaunchContext) -> Optional[List[Action]]:
- if self.__use_remappings is not None and not self.__use_remappings.evaluate(context):
- self.__expanded_remappings = None
- return super().execute(context)