273 lines
11 KiB
Python
273 lines
11 KiB
Python
# Copyright (c) 2018 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.
|
|
|
|
import os
|
|
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
|
from launch.conditions import IfCondition
|
|
from launch.substitutions import LaunchConfiguration, PythonExpression
|
|
from launch_ros.actions import LoadComposableNodes
|
|
from launch_ros.actions import Node
|
|
from launch_ros.descriptions import ComposableNode, ParameterFile
|
|
from nav2_common.launch import RewrittenYaml
|
|
|
|
|
|
def generate_launch_description():
|
|
# Get the launch directory
|
|
bringup_dir = get_package_share_directory('plc_bringup')
|
|
|
|
namespace = LaunchConfiguration('namespace')
|
|
use_sim_time = LaunchConfiguration('use_sim_time')
|
|
autostart = LaunchConfiguration('autostart')
|
|
params_file = LaunchConfiguration('params_file')
|
|
use_composition = LaunchConfiguration('use_composition')
|
|
container_name = LaunchConfiguration('container_name')
|
|
container_name_full = (namespace, '/', container_name)
|
|
use_respawn = LaunchConfiguration('use_respawn')
|
|
log_level = LaunchConfiguration('log_level')
|
|
|
|
lifecycle_nodes = ['controller_server',
|
|
'smoother_server',
|
|
'planner_server',
|
|
'behavior_server',
|
|
'bt_navigator',
|
|
'waypoint_follower',
|
|
'velocity_smoother']
|
|
|
|
# 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
|
|
# https://github.com/ros/geometry2/issues/32
|
|
# https://github.com/ros/robot_state_publisher/pull/30
|
|
# TODO(orduno) Substitute with `PushNodeRemapping`
|
|
# https://github.com/ros2/launch_ros/issues/56
|
|
remappings = [('/tf', 'tf'),
|
|
('/tf_static', 'tf_static')]
|
|
|
|
# Create our own temporary YAML files that include substitutions
|
|
param_substitutions = {
|
|
'use_sim_time': use_sim_time,
|
|
'autostart': autostart}
|
|
|
|
configured_params = ParameterFile(
|
|
RewrittenYaml(
|
|
source_file=params_file,
|
|
root_key=namespace,
|
|
param_rewrites=param_substitutions,
|
|
convert_types=True),
|
|
allow_substs=True)
|
|
|
|
stdout_linebuf_envvar = SetEnvironmentVariable(
|
|
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
|
|
|
declare_namespace_cmd = DeclareLaunchArgument(
|
|
'namespace',
|
|
default_value='',
|
|
description='Top-level namespace')
|
|
|
|
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
|
'use_sim_time',
|
|
default_value='false',
|
|
description='Use simulation (Gazebo) clock if true')
|
|
|
|
declare_params_file_cmd = DeclareLaunchArgument(
|
|
'params_file',
|
|
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
|
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
|
|
|
declare_autostart_cmd = DeclareLaunchArgument(
|
|
'autostart', default_value='true',
|
|
description='Automatically startup the nav2 stack')
|
|
|
|
declare_use_composition_cmd = DeclareLaunchArgument(
|
|
'use_composition', default_value='False',
|
|
description='Use composed bringup if True')
|
|
|
|
declare_container_name_cmd = DeclareLaunchArgument(
|
|
'container_name', default_value='nav2_container',
|
|
description='the name of conatiner that nodes will load in if use composition')
|
|
|
|
declare_use_respawn_cmd = DeclareLaunchArgument(
|
|
'use_respawn', default_value='False',
|
|
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
|
|
|
declare_log_level_cmd = DeclareLaunchArgument(
|
|
'log_level', default_value='info',
|
|
description='log level')
|
|
|
|
load_nodes = GroupAction(
|
|
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
|
actions=[
|
|
Node(
|
|
package='nav2_controller',
|
|
executable='controller_server',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
|
Node(
|
|
package='nav2_smoother',
|
|
executable='smoother_server',
|
|
name='smoother_server',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings),
|
|
Node(
|
|
package='nav2_planner',
|
|
executable='planner_server',
|
|
name='planner_server',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings),
|
|
Node(
|
|
package='nav2_behaviors',
|
|
executable='behavior_server',
|
|
name='behavior_server',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings),
|
|
Node(
|
|
package='nav2_bt_navigator',
|
|
executable='bt_navigator',
|
|
name='bt_navigator',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings),
|
|
Node(
|
|
package='nav2_waypoint_follower',
|
|
executable='waypoint_follower',
|
|
name='waypoint_follower',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings),
|
|
Node(
|
|
package='nav2_velocity_smoother',
|
|
executable='velocity_smoother',
|
|
name='velocity_smoother',
|
|
output='screen',
|
|
respawn=use_respawn,
|
|
respawn_delay=2.0,
|
|
parameters=[configured_params],
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
remappings=remappings +
|
|
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
|
Node(
|
|
package='nav2_lifecycle_manager',
|
|
executable='lifecycle_manager',
|
|
name='lifecycle_manager_navigation',
|
|
output='screen',
|
|
arguments=['--ros-args', '--log-level', log_level],
|
|
parameters=[{'use_sim_time': use_sim_time},
|
|
{'autostart': autostart},
|
|
{'node_names': lifecycle_nodes}]),
|
|
]
|
|
)
|
|
|
|
load_composable_nodes = LoadComposableNodes(
|
|
condition=IfCondition(use_composition),
|
|
target_container=container_name_full,
|
|
composable_node_descriptions=[
|
|
ComposableNode(
|
|
package='nav2_controller',
|
|
plugin='nav2_controller::ControllerServer',
|
|
name='controller_server',
|
|
parameters=[configured_params],
|
|
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
|
ComposableNode(
|
|
package='nav2_smoother',
|
|
plugin='nav2_smoother::SmootherServer',
|
|
name='smoother_server',
|
|
parameters=[configured_params],
|
|
remappings=remappings),
|
|
ComposableNode(
|
|
package='nav2_planner',
|
|
plugin='nav2_planner::PlannerServer',
|
|
name='planner_server',
|
|
parameters=[configured_params],
|
|
remappings=remappings),
|
|
ComposableNode(
|
|
package='nav2_behaviors',
|
|
plugin='behavior_server::BehaviorServer',
|
|
name='behavior_server',
|
|
parameters=[configured_params],
|
|
remappings=remappings),
|
|
ComposableNode(
|
|
package='nav2_bt_navigator',
|
|
plugin='nav2_bt_navigator::BtNavigator',
|
|
name='bt_navigator',
|
|
parameters=[configured_params],
|
|
remappings=remappings),
|
|
ComposableNode(
|
|
package='nav2_waypoint_follower',
|
|
plugin='nav2_waypoint_follower::WaypointFollower',
|
|
name='waypoint_follower',
|
|
parameters=[configured_params],
|
|
remappings=remappings),
|
|
ComposableNode(
|
|
package='nav2_velocity_smoother',
|
|
plugin='nav2_velocity_smoother::VelocitySmoother',
|
|
name='velocity_smoother',
|
|
parameters=[configured_params],
|
|
remappings=remappings +
|
|
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
|
ComposableNode(
|
|
package='nav2_lifecycle_manager',
|
|
plugin='nav2_lifecycle_manager::LifecycleManager',
|
|
name='lifecycle_manager_navigation',
|
|
parameters=[{'use_sim_time': use_sim_time,
|
|
'autostart': autostart,
|
|
'node_names': lifecycle_nodes}]),
|
|
],
|
|
)
|
|
|
|
# Create the launch description and populate
|
|
ld = LaunchDescription()
|
|
|
|
# Set environment variables
|
|
ld.add_action(stdout_linebuf_envvar)
|
|
|
|
# Declare the launch options
|
|
ld.add_action(declare_namespace_cmd)
|
|
ld.add_action(declare_use_sim_time_cmd)
|
|
ld.add_action(declare_params_file_cmd)
|
|
ld.add_action(declare_autostart_cmd)
|
|
ld.add_action(declare_use_composition_cmd)
|
|
ld.add_action(declare_container_name_cmd)
|
|
ld.add_action(declare_use_respawn_cmd)
|
|
ld.add_action(declare_log_level_cmd)
|
|
# Add the actions to launch all of the navigation nodes
|
|
ld.add_action(load_nodes)
|
|
ld.add_action(load_composable_nodes)
|
|
|
|
return ld
|