[multirobot - Part4] Multiple robot control via RVIZ (#1178)

Adding functionality to launch a separate rviz instance per robot.

nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py

@@ -21,6 +21,8 @@ import os
 from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import get_package_share_directory
 
+from nav2_common.launch import ReplaceString
+
 from launch import LaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.actions import (DeclareLaunchArgument, IncludeLaunchDescription,
@@ -47,6 +49,7 @@ def generate_launch_description():
     map_yaml_file = LaunchConfiguration('map')
     params_file = LaunchConfiguration('params_file')
     bt_xml_file = LaunchConfiguration('bt_xml_file')
+    rviz_config_file = LaunchConfiguration('rviz_config')
     log_settings = LaunchConfiguration('log_settings', default='true')
 
     # Declare the launch arguments
@@ -77,6 +80,11 @@ def generate_launch_description():
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
         description='Full path to the behavior tree xml file to use')
 
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
+        description='Full path to the RVIZ config file to use')
+
    # Start Gazebo with plugin providing the robot spawing service
     start_gazebo_cmd = ExecuteProcess(
         cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_factory.so', world],
@@ -99,6 +107,10 @@ def generate_launch_description():
     # Define commands for launching the navigation instances
     nav_instances_cmds = []
     for robot in robots:
+        namespaced_rviz_config_file = ReplaceString(
+            source_file=rviz_config_file,
+            replacements={'<robot_namespace>': ('/' + robot['name'])})
+
         group = GroupAction([
             # TODO(orduno) Each `action.Node` within the `localization` and `navigation` launch
             #              files has two versions, one with the required remaps and another without.
@@ -123,6 +135,7 @@ def generate_launch_description():
                                   'bt_xml_file': bt_xml_file,
                                   'autostart': 'False',
                                   'use_remappings': 'True',
+                                  'rviz_config_file': namespaced_rviz_config_file,
                                   'use_simulator': 'False'}.items()),
 
             LogInfo(
@@ -136,7 +149,10 @@ def generate_launch_description():
                 msg=[robot['name'], ' params yaml: ', params_file]),
             LogInfo(
                 condition=IfCondition(log_settings),
-                msg=[robot['name'], ' behavior tree xml: ', bt_xml_file])
+                msg=[robot['name'], ' behavior tree xml: ', bt_xml_file]),
+            LogInfo(
+                condition=IfCondition(log_settings),
+                msg=[robot['name'], ' rviz config file: ', namespaced_rviz_config_file])
         ])
 
         nav_instances_cmds.append(group)
@@ -158,6 +174,7 @@ def generate_launch_description():
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_params_file_cmd)
     ld.add_action(declare_bt_xml_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
 
     # Add the actions to start gazebo, robots and simulations
     ld.add_action(start_gazebo_cmd)

nav2_bringup/bringup/rviz/nav2_namespaced_view.rviz

+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 195
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Global Planner1/Global Costmap1
+      Splitter Ratio: 0.5833333134651184
+    Tree Height: 464
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: nav2_rviz_plugins/Navigation 2
+    Name: Navigation 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic: <robot_namespace>/robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotModel
+      TF Prefix: ""
+      Unreliable: false
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: <robot_namespace>/scan
+      Unreliable: true
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Bumper Hit
+      Position Transformer: ""
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07999999821186066
+      Style: Spheres
+      Topic: <robot_namespace>/mobile_base/sensors/bumper_pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic: <robot_namespace>/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.019999999552965164
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz_default_plugins/PoseArray
+      Color: 0; 180; 0
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: Amcl Particle Swarm
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: <robot_namespace>/particlecloud
+      Unreliable: true
+      Value: true
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.30000001192092896
+          Class: rviz_default_plugins/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: Global Costmap
+          Topic: <robot_namespace>/global_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: false
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 255; 0; 0
+          Enabled: true
+          Head Diameter: 0.019999999552965164
+          Head Length: 0.019999999552965164
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: Arrows
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.004999999888241291
+          Shaft Length: 0.019999999552965164
+          Topic: <robot_namespace>/plan
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Class: rviz_default_plugins/Polygon
+          Color: 25; 255; 0
+          Enabled: false
+          Name: Polygon
+          Topic: <robot_namespace>/global_costmap/published_footprint
+          Unreliable: false
+          Value: false
+      Enabled: true
+      Name: Global Planner
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.699999988079071
+          Class: rviz_default_plugins/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: Local Costmap
+          Topic: <robot_namespace>/local_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 0; 12; 255
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Local Plan
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: <robot_namespace>/local_plan
+          Unreliable: false
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Trajectories
+          Namespaces:
+            {}
+          Queue Size: 10
+          Topic: <robot_namespace>/marker
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Class: rviz_default_plugins/Polygon
+          Color: 25; 255; 0
+          Enabled: true
+          Name: Polygon
+          Topic: <robot_namespace>/local_costmap/published_footprint
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Local Planner
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic: <robot_namespace>/initialpose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic: <robot_namespace>/clicked_point
+    - Class: nav2_rviz_plugins/GoalTool
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: -1.5700000524520874
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 134.638427734375
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: -0.032615214586257935
+      Y: -0.0801941454410553
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 914
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Navigation 2:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e002000320100000313000000620000004300ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1545
+  X: 295
+  Y: 238

nav2_common/nav2_common/launch/__init__.py

@@ -13,4 +13,5 @@
 # limitations under the License.
 
 from .rewritten_yaml import RewrittenYaml
+from .replace_string import ReplaceString
 from .node import Node

nav2_common/nav2_common/launch/replace_string.py

+# 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.
+
+from typing import Dict
+from typing import List
+from typing import Text
+import tempfile
+import launch
+
+class ReplaceString(launch.Substitution):
+  """
+  Substitution that replaces strings on a given file.
+  """
+
+  def __init__(self,
+    source_file: launch.SomeSubstitutionsType,
+    replacements: Dict) -> None:
+    super().__init__()
+
+    from launch.utilities import normalize_to_list_of_substitutions  # import here to avoid loop
+    self.__source_file = normalize_to_list_of_substitutions(source_file)
+    self.__replacements = {}
+    for key in replacements:
+        self.__replacements[key] = normalize_to_list_of_substitutions(replacements[key])
+
+  @property
+  def name(self) -> List[launch.Substitution]:
+    """Getter for name."""
+    return self.__source_file
+
+  def describe(self) -> Text:
+    """Return a description of this substitution as a string."""
+    return ''
+
+  def perform(self, context: launch.LaunchContext) -> Text:
+    output_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
+    replacements = self.resolve_replacements(context)
+    try:
+      input_file = open(launch.utilities.perform_substitutions(context, self.name), 'r')
+      self.replace(input_file, output_file, replacements)
+    except Exception as err:
+      print('ReplaceString substitution error: ', err)
+    finally:
+      input_file.close()
+      output_file.close()
+    return output_file.name
+
+  def resolve_replacements(self, context):
+    resolved_replacements = {}
+    for key in self.__replacements:
+      resolved_replacements[key] = launch.utilities.perform_substitutions(context, self.__replacements[key])
+    return resolved_replacements
+
+  def replace(self, input_file, output_file, replacements):
+    for line in input_file:
+      for key, value in replacements.items():
+        if isinstance(key, str) and isinstance(value, str):
+          if key in line:
+            line = line.replace(key, value)
+        else:
+          raise TypeError('A provided replacement pair is not a string. Both key and value should be strings.')
+      output_file.write(line)