194 lines
6.8 KiB
Python
194 lines
6.8 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("nav2_bringup")
|
||
|
|
|
||
|
|
namespace = LaunchConfiguration("namespace")
|
||
|
|
map_yaml_file = LaunchConfiguration("map")
|
||
|
|
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 = ["map_server", "amcl"]
|
||
|
|
|
||
|
|
# Create our own temporary YAML files that include substitutions
|
||
|
|
param_substitutions = {"use_sim_time": use_sim_time, "yaml_filename": map_yaml_file}
|
||
|
|
|
||
|
|
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_map_yaml_cmd = DeclareLaunchArgument(
|
||
|
|
"map", description="Full path to map yaml file to load"
|
||
|
|
)
|
||
|
|
|
||
|
|
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 container 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_map_server",
|
||
|
|
executable="map_server",
|
||
|
|
name="map_server",
|
||
|
|
output="screen",
|
||
|
|
respawn=use_respawn,
|
||
|
|
respawn_delay=2.0,
|
||
|
|
parameters=[configured_params],
|
||
|
|
arguments=["--ros-args", "--log-level", log_level],
|
||
|
|
),
|
||
|
|
Node(
|
||
|
|
package="nav2_amcl",
|
||
|
|
executable="amcl",
|
||
|
|
name="amcl",
|
||
|
|
output="screen",
|
||
|
|
respawn=use_respawn,
|
||
|
|
respawn_delay=2.0,
|
||
|
|
parameters=[configured_params],
|
||
|
|
arguments=["--ros-args", "--log-level", log_level],
|
||
|
|
),
|
||
|
|
Node(
|
||
|
|
package="nav2_lifecycle_manager",
|
||
|
|
executable="lifecycle_manager",
|
||
|
|
name="lifecycle_manager_localization",
|
||
|
|
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_map_server",
|
||
|
|
plugin="nav2_map_server::MapServer",
|
||
|
|
name="map_server",
|
||
|
|
parameters=[configured_params],
|
||
|
|
),
|
||
|
|
ComposableNode(
|
||
|
|
package="nav2_amcl",
|
||
|
|
plugin="nav2_amcl::AmclNode",
|
||
|
|
name="amcl",
|
||
|
|
parameters=[configured_params],
|
||
|
|
),
|
||
|
|
ComposableNode(
|
||
|
|
package="nav2_lifecycle_manager",
|
||
|
|
plugin="nav2_lifecycle_manager::LifecycleManager",
|
||
|
|
name="lifecycle_manager_localization",
|
||
|
|
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_map_yaml_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 localiztion nodes
|
||
|
|
ld.add_action(load_nodes)
|
||
|
|
ld.add_action(load_composable_nodes)
|
||
|
|
|
||
|
|
return ld
|