143 lines
5.4 KiB
Python
143 lines
5.4 KiB
Python
# Copyright (c) 2020 Samsung Research Russia
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.conditions import IfCondition, UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.descriptions import ParameterFile
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from nav2_common.launch import HasNodeParams, RewrittenYaml
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def generate_launch_description():
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# Input parameters declaration
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namespace = LaunchConfiguration('namespace')
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params_file = LaunchConfiguration('params_file')
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use_sim_time = LaunchConfiguration('use_sim_time')
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autostart = LaunchConfiguration('autostart')
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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# Variables
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lifecycle_nodes = ['map_saver']
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# Getting directories and launch-files
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bringup_dir = get_package_share_directory('plc_bringup')
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slam_toolbox_dir = get_package_share_directory('slam_toolbox')
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slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py')
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time}
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configured_params = ParameterFile(
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RewrittenYaml(
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source_file=params_file,
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root_key=namespace,
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param_rewrites=param_substitutions,
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convert_types=True),
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allow_substs=True)
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# Declare the launch arguments
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='True',
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description='Use simulation (Gazebo) clock if true')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='True',
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description='Automatically startup the nav2 stack')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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# Nodes launching commands
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start_map_saver_server_cmd = Node(
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package='nav2_map_server',
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executable='map_saver_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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arguments=['--ros-args', '--log-level', log_level],
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parameters=[configured_params])
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start_lifecycle_manager_cmd = Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager_slam',
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output='screen',
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arguments=['--ros-args', '--log-level', log_level],
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parameters=[{'use_sim_time': use_sim_time},
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{'autostart': autostart},
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{'node_names': lifecycle_nodes}])
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# If the provided param file doesn't have slam_toolbox params, we must remove the 'params_file'
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# LaunchConfiguration, or it will be passed automatically to slam_toolbox and will not load
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# the default file
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has_slam_toolbox_params = HasNodeParams(source_file=params_file,
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node_name='slam_toolbox')
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start_slam_toolbox_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(slam_launch_file),
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launch_arguments={'use_sim_time': use_sim_time}.items(),
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condition=UnlessCondition(has_slam_toolbox_params))
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start_slam_toolbox_cmd_with_params = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(slam_launch_file),
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launch_arguments={'use_sim_time': use_sim_time,
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'slam_params_file': params_file}.items(),
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condition=IfCondition(has_slam_toolbox_params))
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ld = LaunchDescription()
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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# Running Map Saver Server
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ld.add_action(start_map_saver_server_cmd)
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ld.add_action(start_lifecycle_manager_cmd)
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# Running SLAM Toolbox (Only one of them will be run)
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ld.add_action(start_slam_toolbox_cmd)
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ld.add_action(start_slam_toolbox_cmd_with_params)
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return ld
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