280 lines
10 KiB
Python
280 lines
10 KiB
Python
# Copyright (c) 2018 Intel Corporation
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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, GroupAction, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PythonExpression
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from launch_ros.actions import LoadComposableNodes
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode, ParameterFile
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory("nav2_bringup")
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namespace = LaunchConfiguration("namespace")
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use_sim_time = LaunchConfiguration("use_sim_time")
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autostart = LaunchConfiguration("autostart")
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params_file = LaunchConfiguration("params_file")
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use_composition = LaunchConfiguration("use_composition")
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container_name = LaunchConfiguration("container_name")
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container_name_full = (namespace, "/", container_name)
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use_respawn = LaunchConfiguration("use_respawn")
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log_level = LaunchConfiguration("log_level")
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lifecycle_nodes = [
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"controller_server",
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"smoother_server",
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"planner_server",
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"behavior_server",
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"bt_navigator",
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"waypoint_follower",
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"velocity_smoother",
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]
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {"use_sim_time": use_sim_time, "autostart": autostart}
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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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),
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allow_substs=True,
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)
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stdout_linebuf_envvar = SetEnvironmentVariable("RCUTILS_LOGGING_BUFFERED_STREAM", "1")
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declare_namespace_cmd = DeclareLaunchArgument(
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"namespace",
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default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
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description="Top-level namespace",
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)
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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"use_sim_time", default_value="false", description="Use simulation (Gazebo) clock if true"
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)
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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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)
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declare_autostart_cmd = DeclareLaunchArgument(
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"autostart", default_value="true", description="Automatically startup the nav2 stack"
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)
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declare_use_composition_cmd = DeclareLaunchArgument(
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"use_composition", default_value="False", description="Use composed bringup if True"
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)
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declare_container_name_cmd = DeclareLaunchArgument(
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"container_name",
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default_value="nav2_container",
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description="the name of container that nodes will load in if use composition",
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)
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declare_use_respawn_cmd = DeclareLaunchArgument(
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"use_respawn",
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default_value="False",
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description="Whether to respawn if a node crashes. Applied when composition is disabled.",
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)
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declare_log_level_cmd = DeclareLaunchArgument(
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"log_level", default_value="info", description="log level"
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)
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load_nodes = GroupAction(
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condition=IfCondition(PythonExpression(["not ", use_composition])),
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actions=[
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Node(
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package="nav2_controller",
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executable="controller_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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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remappings=[("cmd_vel", "cmd_vel_nav")],
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),
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Node(
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package="nav2_smoother",
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executable="smoother_server",
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name="smoother_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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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),
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Node(
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package="nav2_planner",
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executable="planner_server",
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name="planner_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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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),
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Node(
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package="nav2_behaviors",
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executable="behavior_server",
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name="behavior_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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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),
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Node(
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package="nav2_bt_navigator",
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executable="bt_navigator",
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name="bt_navigator",
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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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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),
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Node(
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package="nav2_waypoint_follower",
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executable="waypoint_follower",
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name="waypoint_follower",
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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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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),
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Node(
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package="nav2_velocity_smoother",
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executable="velocity_smoother",
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name="velocity_smoother",
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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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parameters=[configured_params],
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arguments=["--ros-args", "--log-level", log_level],
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remappings=[("cmd_vel", "cmd_vel_nav"), ("cmd_vel_smoothed", "cmd_vel")],
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),
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Node(
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package="nav2_lifecycle_manager",
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executable="lifecycle_manager",
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name="lifecycle_manager_navigation",
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output="screen",
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arguments=["--ros-args", "--log-level", log_level],
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parameters=[
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{"use_sim_time": use_sim_time},
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{"autostart": autostart},
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{"node_names": lifecycle_nodes},
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],
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),
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],
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)
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load_composable_nodes = LoadComposableNodes(
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condition=IfCondition(use_composition),
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target_container=container_name_full,
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composable_node_descriptions=[
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ComposableNode(
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package="nav2_controller",
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plugin="nav2_controller::ControllerServer",
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name="controller_server",
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parameters=[configured_params],
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remappings=[("cmd_vel", "cmd_vel_nav")],
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),
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ComposableNode(
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package="nav2_smoother",
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plugin="nav2_smoother::SmootherServer",
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name="smoother_server",
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parameters=[configured_params],
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),
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ComposableNode(
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package="nav2_planner",
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plugin="nav2_planner::PlannerServer",
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name="planner_server",
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parameters=[configured_params],
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),
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ComposableNode(
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package="nav2_behaviors",
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plugin="behavior_server::BehaviorServer",
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name="behavior_server",
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parameters=[configured_params],
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),
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ComposableNode(
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package="nav2_bt_navigator",
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plugin="nav2_bt_navigator::BtNavigator",
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name="bt_navigator",
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parameters=[configured_params],
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),
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ComposableNode(
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package="nav2_waypoint_follower",
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plugin="nav2_waypoint_follower::WaypointFollower",
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name="waypoint_follower",
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parameters=[configured_params],
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),
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ComposableNode(
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package="nav2_velocity_smoother",
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plugin="nav2_velocity_smoother::VelocitySmoother",
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name="velocity_smoother",
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parameters=[configured_params],
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remappings=[("cmd_vel", "cmd_vel_nav"), ("cmd_vel_smoothed", "cmd_vel")],
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),
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ComposableNode(
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package="nav2_lifecycle_manager",
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plugin="nav2_lifecycle_manager::LifecycleManager",
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name="lifecycle_manager_navigation",
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parameters=[
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{
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"use_sim_time": use_sim_time,
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"autostart": autostart,
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"node_names": lifecycle_nodes,
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}
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],
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),
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],
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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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_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_container_name_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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# Add the actions to launch all of the navigation nodes
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ld.add_action(load_nodes)
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ld.add_action(load_composable_nodes)
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return ld
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