diff --git a/nav2_bringup/bringup/README.md b/nav2_bringup/bringup/README.md
index d676bd93b1be543d129c8542f1efa03974a6fbfd..525b65df3a2121ffcaf3976a50492377914c5b7c 100644
--- a/nav2_bringup/bringup/README.md
+++ b/nav2_bringup/bringup/README.md
@@ -47,7 +47,7 @@ ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py use_sim_time
```bash
source /opt/ros/dashing/setup.bash
-ros2 launch nav2_bringup nav2_bringup_launch.py use_sim_time:=True autostart:=True \
+ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True autostart:=True \
map:=<full/path/to/map.yaml>
```
@@ -73,7 +73,7 @@ To view the robot model in RViz:
A convenience file is provided to launch Gazebo, RVIZ and Navigation2 using a single command:
```bash
-ros2 launch nav2_bringup nav2_tb3_simulation_launch.py <settings>
+ros2 launch nav2_bringup tb3_simulation_launch.py <settings>
```
Where `<settings>` can used to replace any of the default options, for example:
@@ -98,7 +98,7 @@ export TURTLEBOT3_MODEL=waffle
Also, a file for launching **two** robots with **independent** navigation stacks is provided:
```bash
-ros2 launch nav2_bringup nav2_multi_tb3_simulation_launch.py <settings>
+ros2 launch nav2_bringup multi_tb3_simulation_launch.py <settings>
```
@@ -120,7 +120,7 @@ ros2 launch nav2_bringup nav2_multi_tb3_simulation_launch.py <settings>
```bash
source /opt/ros/dashing/setup.bash
-ros2 launch nav2_bringup nav2_bringup_launch.py map:=<full/path/to/map.yaml> map_type:=occupancy
+ros2 launch nav2_bringup bringup_launch.py map:=<full/path/to/map.yaml> map_type:=occupancy
```
### Terminal 2 : Launch RVIZ
diff --git a/nav2_bringup/bringup/launch/nav2_bringup_launch.py b/nav2_bringup/bringup/launch/bringup_launch.py
similarity index 97%
rename from nav2_bringup/bringup/launch/nav2_bringup_launch.py
rename to nav2_bringup/bringup/launch/bringup_launch.py
index cf7f6211cf1df582d6635f7242b4b40f9c863dcc..467b902d7ebd3f96259e82c75a979946ba5610be 100644
--- a/nav2_bringup/bringup/launch/nav2_bringup_launch.py
+++ b/nav2_bringup/bringup/launch/bringup_launch.py
@@ -85,7 +85,7 @@ def generate_launch_description():
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir,
- 'nav2_localization_launch.py')),
+ 'localization_launch.py')),
launch_arguments={'namespace': namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
@@ -94,7 +94,7 @@ def generate_launch_description():
'use_lifecycle_mgr': 'false'}.items()),
IncludeLaunchDescription(
- PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_navigation_launch.py')),
+ PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
diff --git a/nav2_bringup/bringup/launch/nav2_localization_launch.py b/nav2_bringup/bringup/launch/localization_launch.py
similarity index 100%
rename from nav2_bringup/bringup/launch/nav2_localization_launch.py
rename to nav2_bringup/bringup/launch/localization_launch.py
diff --git a/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
similarity index 98%
rename from nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
rename to nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
index a95b29e963e65187e8d227736663f7ca14b76ee6..d544528ab176343ef7d7abbcfeb59a9b7a536a10 100644
--- a/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
@@ -136,7 +136,7 @@ def generate_launch_description():
group = GroupAction([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(launch_dir, 'nav2_rviz_launch.py')),
+ os.path.join(launch_dir, 'rviz_launch.py')),
condition=IfCondition(use_rviz),
launch_arguments={
'namespace': TextSubstitution(text=robot['name']),
@@ -146,7 +146,7 @@ def generate_launch_description():
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(bringup_dir,
'launch',
- 'nav2_tb3_simulation_launch.py')),
+ 'tb3_simulation_launch.py')),
launch_arguments={'namespace': robot['name'],
'use_namespace': 'True',
'map': map_yaml_file,
diff --git a/nav2_bringup/bringup/launch/nav2_navigation_launch.py b/nav2_bringup/bringup/launch/navigation_launch.py
similarity index 100%
rename from nav2_bringup/bringup/launch/nav2_navigation_launch.py
rename to nav2_bringup/bringup/launch/navigation_launch.py
diff --git a/nav2_bringup/bringup/launch/nav2_rviz_launch.py b/nav2_bringup/bringup/launch/rviz_launch.py
similarity index 100%
rename from nav2_bringup/bringup/launch/nav2_rviz_launch.py
rename to nav2_bringup/bringup/launch/rviz_launch.py
diff --git a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/tb3_simulation_launch.py
similarity index 99%
rename from nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
rename to nav2_bringup/bringup/launch/tb3_simulation_launch.py
index 4bb78445d09f38a001a823a2d9ed23d8871eeedd..990b87630c63c3c82f3d9875411d252af034140a 100644
--- a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/tb3_simulation_launch.py
@@ -153,14 +153,14 @@ def generate_launch_description():
arguments=[urdf])
rviz_cmd = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_rviz_launch.py')),
+ PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
condition=IfCondition(use_rviz),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'rviz_config': rviz_config_file}.items())
bringup_cmd = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(os.path.join(launch_dir, 'nav2_bringup_launch.py')),
+ PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
launch_arguments={'namespace': namespace,
'use_namespace': use_namespace,
'map': map_yaml_file,
diff --git a/nav2_system_tests/src/system/test_multi_robot_launch.py b/nav2_system_tests/src/system/test_multi_robot_launch.py
index 36beb4c0b6e67906180ea35d5725fde27e88f66f..5adfa97f176cdb12befa0f17595fdd64a65ccce0 100755
--- a/nav2_system_tests/src/system/test_multi_robot_launch.py
+++ b/nav2_system_tests/src/system/test_multi_robot_launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
PushRosNamespace(robot['name']),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(bringup_dir, 'launch', 'nav2_bringup_launch.py')),
+ os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={
'namespace': robot['name'],
'map': map_yaml_file,
diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
index d4a1c560ce4524cf28b68eaf446c3fa7d14305dd..00cdf4b29dbbe0c7d21e7de4c630137052a1ef4b 100755
--- a/nav2_system_tests/src/system/test_system_launch.py
+++ b/nav2_system_tests/src/system/test_system_launch.py
@@ -73,7 +73,7 @@ def generate_launch_description():
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(bringup_dir, 'launch', 'nav2_bringup_launch.py')),
+ os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={'namespace': '',
'use_namespace': 'False',
'map': map_yaml_file,
diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py
index 231d120902ab785c356fe48607667fb7c0c12ead..98434123da2f4ac6e44f927277c5167b97a4776b 100755
--- a/nav2_system_tests/src/updown/test_updown_launch.py
+++ b/nav2_system_tests/src/updown/test_updown_launch.py
@@ -58,7 +58,7 @@ def generate_launch_description():
nav2_bringup = launch.actions.IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(launch_dir, 'nav2_bringup_launch.py')),
+ os.path.join(launch_dir, 'bringup_launch.py')),
launch_arguments={'map': map_yaml_file,
'use_sim_time': 'True',
'autostart': 'False'}.items())
diff --git a/nav2_system_tests/src/waypoint_follower/test_case_py.launch b/nav2_system_tests/src/waypoint_follower/test_case_py.launch
index ff1eab15b0cb6fe37a861fc5ff16c1985449021e..23b5200110fe0f358490f32300c3e8e5f69996e4 100755
--- a/nav2_system_tests/src/waypoint_follower/test_case_py.launch
+++ b/nav2_system_tests/src/waypoint_follower/test_case_py.launch
@@ -71,7 +71,7 @@ def generate_launch_description():
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(bringup_dir, 'launch', 'nav2_bringup_launch.py')),
+ os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
launch_arguments={
'map': map_yaml_file,
'use_sim_time': 'True',
diff --git a/sphinx_doc/getting_started/index.rst b/sphinx_doc/getting_started/index.rst
index b8c4d62e4435a32b323c721a99f41e4e689bd04b..841cacb69ebd621eaf5c3796e7345ced76adabee 100644
--- a/sphinx_doc/getting_started/index.rst
+++ b/sphinx_doc/getting_started/index.rst
@@ -51,7 +51,7 @@ Running the Example
.. code-block:: bash
- ros2 launch nav2_bringup nav2_simulation_launch.py
+ ros2 launch nav2_bringup tb3_simulation_launch.py
This launch file will launch Navigation2 with the AMCL localizer in the
``turtlebot3_world`` world.
diff --git a/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst b/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
index 86d3ec66f1d769069843b61ab5884709f3fd1541..11c851a7603b3efe8b79d7fa8d2e4fc0554dd1f0 100644
--- a/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
+++ b/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
@@ -65,7 +65,7 @@ More information about the map.yaml can be found `here <http://wiki.ros.org/map_
Launch Navigation 2. If you set autostart:=False, you need to click on the start button in RViz to initialize the nodes.
Make sure `use_sim time` is set to **False**, because we want to use the system time instead of the time simulation time from Gazebo.
-``ros2 launch nav2_bringup nav2_bringup_launch.py use_sim_time:=False autostart:=False map:=/path/to/your-map.yaml``
+``ros2 launch nav2_bringup bringup_launch.py use_sim_time:=False autostart:=False map:=/path/to/your-map.yaml``
Note: Don't forget to change **/path/to/your-map.yaml** to the actual path to the your-map.yaml file.