From cd239d604876bb0e8df4fdfc7c4936c97a7afd42 Mon Sep 17 00:00:00 2001 From: "Carlos A. Orduno" <39749557+orduno@users.noreply.github.com> Date: Mon, 28 Oct 2019 11:00:46 -0700 Subject: [PATCH] Launch RVIZ using launch_ros::Actions::Node (#1286) --- .../launch/nav2_tb3_simulation_launch.py | 44 ++++++------------- 1 file changed, 13 insertions(+), 31 deletions(-) diff --git a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py index 08fbe1a2..b562d3bc 100644 --- a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py +++ b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py @@ -16,7 +16,7 @@ import os -from ament_index_python.packages import get_package_prefix, get_package_share_directory +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import (DeclareLaunchArgument, EmitEvent, ExecuteProcess, @@ -152,37 +152,19 @@ def generate_launch_description(): remappings=remappings, 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. - # Once fixed, launch by providing the remappings: - # rviz_remappings = [('/tf', 'tf'), - # ('/tf_static', 'tf_static'), - # ('goal_pose', 'goal_pose'), - # ('/clicked_point', 'clicked_point'), - # ('/initialpose', 'initialpose'), - # ('/parameter_events', 'parameter_events'), - # ('/rosout', 'rosout')] - - # start_rviz_cmd = Node( - # package='rviz2', - # node_executable='rviz2', - # node_name='rviz2', - # arguments=['-d', rviz_config_file], - # output='screen', - # use_remappings=IfCondition(use_remappings), - # remappings=rviz_remappings) - - start_rviz_cmd = ExecuteProcess( + start_rviz_cmd = Node( condition=IfCondition(use_rviz), - cmd=[os.path.join(get_package_prefix('rviz2'), 'lib/rviz2/rviz2'), - ['-d', rviz_config_file], - ['__ns:=/', namespace], - '/tf:=tf', - '/tf_static:=tf_static', - '/goal_pose:=goal_pose', - '/clicked_point:=clicked_point', - '/initialpose:=initialpose'], - cwd=[launch_dir], output='screen') + package='rviz2', + node_executable='rviz2', + node_name='rviz2', + arguments=['-d', rviz_config_file], + output='screen', + use_remappings=IfCondition(use_remappings), + remappings=[('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('goal_pose', 'goal_pose'), + ('/clicked_point', 'clicked_point'), + ('/initialpose', 'initialpose')]) exit_event_handler = RegisterEventHandler( event_handler=OnProcessExit( -- GitLab