Nav2 Navigation Stack - humble  humble
ROS 2 Navigation Stack
navigation_launch.py
1 # Copyright (c) 2018 Intel Corporation
2 #
3 # Licensed under the Apache License, Version 2.0 (the "License");
4 # you may not use this file except in compliance with the License.
5 # You may obtain a copy of the License at
6 #
7 # http://www.apache.org/licenses/LICENSE-2.0
8 #
9 # Unless required by applicable law or agreed to in writing, software
10 # distributed under the License is distributed on an "AS IS" BASIS,
11 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 # See the License for the specific language governing permissions and
13 # limitations under the License.
14 
15 import os
16 
17 from ament_index_python.packages import get_package_share_directory
18 
19 from launch import LaunchDescription
20 from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
21 from launch.conditions import IfCondition
22 from launch.substitutions import LaunchConfiguration, PythonExpression
23 from launch_ros.actions import LoadComposableNodes
24 from launch_ros.actions import Node
25 from launch_ros.descriptions import ComposableNode, ParameterFile
26 from nav2_common.launch import RewrittenYaml
27 
28 
29 def generate_launch_description():
30  # Get the launch directory
31  bringup_dir = get_package_share_directory('nav2_bringup')
32 
33  namespace = LaunchConfiguration('namespace')
34  use_sim_time = LaunchConfiguration('use_sim_time')
35  autostart = LaunchConfiguration('autostart')
36  params_file = LaunchConfiguration('params_file')
37  use_composition = LaunchConfiguration('use_composition')
38  container_name = LaunchConfiguration('container_name')
39  container_name_full = (namespace, '/', container_name)
40  use_respawn = LaunchConfiguration('use_respawn')
41  log_level = LaunchConfiguration('log_level')
42 
43  lifecycle_nodes = ['controller_server',
44  'smoother_server',
45  'planner_server',
46  'behavior_server',
47  'bt_navigator',
48  'waypoint_follower',
49  'velocity_smoother']
50 
51  # Map fully qualified names to relative ones so the node's namespace can be prepended.
52  # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
53  # https://github.com/ros/geometry2/issues/32
54  # https://github.com/ros/robot_state_publisher/pull/30
55  # TODO(orduno) Substitute with `PushNodeRemapping`
56  # https://github.com/ros2/launch_ros/issues/56
57  remappings = [('/tf', 'tf'),
58  ('/tf_static', 'tf_static')]
59 
60  # Create our own temporary YAML files that include substitutions
61  param_substitutions = {
62  'use_sim_time': use_sim_time,
63  'autostart': autostart}
64 
65  configured_params = ParameterFile(
66  RewrittenYaml(
67  source_file=params_file,
68  root_key=namespace,
69  param_rewrites=param_substitutions,
70  convert_types=True),
71  allow_substs=True)
72 
73  stdout_linebuf_envvar = SetEnvironmentVariable(
74  'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
75 
76  declare_namespace_cmd = DeclareLaunchArgument(
77  'namespace',
78  default_value='',
79  description='Top-level namespace')
80 
81  declare_use_sim_time_cmd = DeclareLaunchArgument(
82  'use_sim_time',
83  default_value='false',
84  description='Use simulation (Gazebo) clock if true')
85 
86  declare_params_file_cmd = DeclareLaunchArgument(
87  'params_file',
88  default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
89  description='Full path to the ROS2 parameters file to use for all launched nodes')
90 
91  declare_autostart_cmd = DeclareLaunchArgument(
92  'autostart', default_value='true',
93  description='Automatically startup the nav2 stack')
94 
95  declare_use_composition_cmd = DeclareLaunchArgument(
96  'use_composition', default_value='False',
97  description='Use composed bringup if True')
98 
99  declare_container_name_cmd = DeclareLaunchArgument(
100  'container_name', default_value='nav2_container',
101  description='the name of conatiner that nodes will load in if use composition')
102 
103  declare_use_respawn_cmd = DeclareLaunchArgument(
104  'use_respawn', default_value='False',
105  description='Whether to respawn if a node crashes. Applied when composition is disabled.')
106 
107  declare_log_level_cmd = DeclareLaunchArgument(
108  'log_level', default_value='info',
109  description='log level')
110 
111  load_nodes = GroupAction(
112  condition=IfCondition(PythonExpression(['not ', use_composition])),
113  actions=[
114  Node(
115  package='nav2_controller',
116  executable='controller_server',
117  output='screen',
118  respawn=use_respawn,
119  respawn_delay=2.0,
120  parameters=[configured_params],
121  arguments=['--ros-args', '--log-level', log_level],
122  remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
123  Node(
124  package='nav2_smoother',
125  executable='smoother_server',
126  name='smoother_server',
127  output='screen',
128  respawn=use_respawn,
129  respawn_delay=2.0,
130  parameters=[configured_params],
131  arguments=['--ros-args', '--log-level', log_level],
132  remappings=remappings),
133  Node(
134  package='nav2_planner',
135  executable='planner_server',
136  name='planner_server',
137  output='screen',
138  respawn=use_respawn,
139  respawn_delay=2.0,
140  parameters=[configured_params],
141  arguments=['--ros-args', '--log-level', log_level],
142  remappings=remappings),
143  Node(
144  package='nav2_behaviors',
145  executable='behavior_server',
146  name='behavior_server',
147  output='screen',
148  respawn=use_respawn,
149  respawn_delay=2.0,
150  parameters=[configured_params],
151  arguments=['--ros-args', '--log-level', log_level],
152  remappings=remappings),
153  Node(
154  package='nav2_bt_navigator',
155  executable='bt_navigator',
156  name='bt_navigator',
157  output='screen',
158  respawn=use_respawn,
159  respawn_delay=2.0,
160  parameters=[configured_params],
161  arguments=['--ros-args', '--log-level', log_level],
162  remappings=remappings),
163  Node(
164  package='nav2_waypoint_follower',
165  executable='waypoint_follower',
166  name='waypoint_follower',
167  output='screen',
168  respawn=use_respawn,
169  respawn_delay=2.0,
170  parameters=[configured_params],
171  arguments=['--ros-args', '--log-level', log_level],
172  remappings=remappings),
173  Node(
174  package='nav2_velocity_smoother',
175  executable='velocity_smoother',
176  name='velocity_smoother',
177  output='screen',
178  respawn=use_respawn,
179  respawn_delay=2.0,
180  parameters=[configured_params],
181  arguments=['--ros-args', '--log-level', log_level],
182  remappings=remappings +
183  [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
184  Node(
185  package='nav2_lifecycle_manager',
186  executable='lifecycle_manager',
187  name='lifecycle_manager_navigation',
188  output='screen',
189  arguments=['--ros-args', '--log-level', log_level],
190  parameters=[{'use_sim_time': use_sim_time},
191  {'autostart': autostart},
192  {'node_names': lifecycle_nodes}]),
193  ]
194  )
195 
196  load_composable_nodes = LoadComposableNodes(
197  condition=IfCondition(use_composition),
198  target_container=container_name_full,
199  composable_node_descriptions=[
200  ComposableNode(
201  package='nav2_controller',
202  plugin='nav2_controller::ControllerServer',
203  name='controller_server',
204  parameters=[configured_params],
205  remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
206  ComposableNode(
207  package='nav2_smoother',
208  plugin='nav2_smoother::SmootherServer',
209  name='smoother_server',
210  parameters=[configured_params],
211  remappings=remappings),
212  ComposableNode(
213  package='nav2_planner',
214  plugin='nav2_planner::PlannerServer',
215  name='planner_server',
216  parameters=[configured_params],
217  remappings=remappings),
218  ComposableNode(
219  package='nav2_behaviors',
220  plugin='behavior_server::BehaviorServer',
221  name='behavior_server',
222  parameters=[configured_params],
223  remappings=remappings),
224  ComposableNode(
225  package='nav2_bt_navigator',
226  plugin='nav2_bt_navigator::BtNavigator',
227  name='bt_navigator',
228  parameters=[configured_params],
229  remappings=remappings),
230  ComposableNode(
231  package='nav2_waypoint_follower',
232  plugin='nav2_waypoint_follower::WaypointFollower',
233  name='waypoint_follower',
234  parameters=[configured_params],
235  remappings=remappings),
236  ComposableNode(
237  package='nav2_velocity_smoother',
238  plugin='nav2_velocity_smoother::VelocitySmoother',
239  name='velocity_smoother',
240  parameters=[configured_params],
241  remappings=remappings +
242  [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
243  ComposableNode(
244  package='nav2_lifecycle_manager',
245  plugin='nav2_lifecycle_manager::LifecycleManager',
246  name='lifecycle_manager_navigation',
247  parameters=[{'use_sim_time': use_sim_time,
248  'autostart': autostart,
249  'node_names': lifecycle_nodes}]),
250  ],
251  )
252 
253  # Create the launch description and populate
254  ld = LaunchDescription()
255 
256  # Set environment variables
257  ld.add_action(stdout_linebuf_envvar)
258 
259  # Declare the launch options
260  ld.add_action(declare_namespace_cmd)
261  ld.add_action(declare_use_sim_time_cmd)
262  ld.add_action(declare_params_file_cmd)
263  ld.add_action(declare_autostart_cmd)
264  ld.add_action(declare_use_composition_cmd)
265  ld.add_action(declare_container_name_cmd)
266  ld.add_action(declare_use_respawn_cmd)
267  ld.add_action(declare_log_level_cmd)
268  # Add the actions to launch all of the navigation nodes
269  ld.add_action(load_nodes)
270  ld.add_action(load_composable_nodes)
271 
272  return ld
nav2_common.launch
Definition: __init__.py:1
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