Nav2 Navigation Stack - humble  humble
ROS 2 Navigation Stack
tb3_simulation_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 """This is all-in-one launch script intended for use by nav2 developers."""
16 
17 import os
18 
19 from ament_index_python.packages import get_package_share_directory
20 
21 from launch import LaunchDescription
22 from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
23 from launch.conditions import IfCondition
24 from launch.launch_description_sources import PythonLaunchDescriptionSource
25 from launch.substitutions import LaunchConfiguration, PythonExpression
26 from launch_ros.actions import Node
27 
28 
29 def generate_launch_description():
30  # Get the launch directory
31  bringup_dir = get_package_share_directory('nav2_bringup')
32  launch_dir = os.path.join(bringup_dir, 'launch')
33 
34  # Create the launch configuration variables
35  slam = LaunchConfiguration('slam')
36  namespace = LaunchConfiguration('namespace')
37  use_namespace = LaunchConfiguration('use_namespace')
38  map_yaml_file = LaunchConfiguration('map')
39  use_sim_time = LaunchConfiguration('use_sim_time')
40  params_file = LaunchConfiguration('params_file')
41  autostart = LaunchConfiguration('autostart')
42  use_composition = LaunchConfiguration('use_composition')
43  use_respawn = LaunchConfiguration('use_respawn')
44 
45  # Launch configuration variables specific to simulation
46  rviz_config_file = LaunchConfiguration('rviz_config_file')
47  use_simulator = LaunchConfiguration('use_simulator')
48  use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
49  use_rviz = LaunchConfiguration('use_rviz')
50  headless = LaunchConfiguration('headless')
51  world = LaunchConfiguration('world')
52  pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
53  'y': LaunchConfiguration('y_pose', default='-0.50'),
54  'z': LaunchConfiguration('z_pose', default='0.01'),
55  'R': LaunchConfiguration('roll', default='0.00'),
56  'P': LaunchConfiguration('pitch', default='0.00'),
57  'Y': LaunchConfiguration('yaw', default='0.00')}
58  robot_name = LaunchConfiguration('robot_name')
59  robot_sdf = LaunchConfiguration('robot_sdf')
60 
61  # Map fully qualified names to relative ones so the node's namespace can be prepended.
62  # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
63  # https://github.com/ros/geometry2/issues/32
64  # https://github.com/ros/robot_state_publisher/pull/30
65  # TODO(orduno) Substitute with `PushNodeRemapping`
66  # https://github.com/ros2/launch_ros/issues/56
67  remappings = [('/tf', 'tf'),
68  ('/tf_static', 'tf_static')]
69 
70  # Declare the launch arguments
71  declare_namespace_cmd = DeclareLaunchArgument(
72  'namespace',
73  default_value='',
74  description='Top-level namespace')
75 
76  declare_use_namespace_cmd = DeclareLaunchArgument(
77  'use_namespace',
78  default_value='false',
79  description='Whether to apply a namespace to the navigation stack')
80 
81  declare_slam_cmd = DeclareLaunchArgument(
82  'slam',
83  default_value='False',
84  description='Whether run a SLAM')
85 
86  declare_map_yaml_cmd = DeclareLaunchArgument(
87  'map',
88  default_value=os.path.join(
89  bringup_dir, 'maps', 'turtlebot3_world.yaml'),
90  description='Full path to map file to load')
91 
92  declare_use_sim_time_cmd = DeclareLaunchArgument(
93  'use_sim_time',
94  default_value='true',
95  description='Use simulation (Gazebo) clock if true')
96 
97  declare_params_file_cmd = DeclareLaunchArgument(
98  'params_file',
99  default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
100  description='Full path to the ROS2 parameters file to use for all launched nodes')
101 
102  declare_autostart_cmd = DeclareLaunchArgument(
103  'autostart', default_value='true',
104  description='Automatically startup the nav2 stack')
105 
106  declare_use_composition_cmd = DeclareLaunchArgument(
107  'use_composition', default_value='True',
108  description='Whether to use composed bringup')
109 
110  declare_use_respawn_cmd = DeclareLaunchArgument(
111  'use_respawn', default_value='False',
112  description='Whether to respawn if a node crashes. Applied when composition is disabled.')
113 
114  declare_rviz_config_file_cmd = DeclareLaunchArgument(
115  'rviz_config_file',
116  default_value=os.path.join(
117  bringup_dir, 'rviz', 'nav2_default_view.rviz'),
118  description='Full path to the RVIZ config file to use')
119 
120  declare_use_simulator_cmd = DeclareLaunchArgument(
121  'use_simulator',
122  default_value='True',
123  description='Whether to start the simulator')
124 
125  declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
126  'use_robot_state_pub',
127  default_value='True',
128  description='Whether to start the robot state publisher')
129 
130  declare_use_rviz_cmd = DeclareLaunchArgument(
131  'use_rviz',
132  default_value='True',
133  description='Whether to start RVIZ')
134 
135  declare_simulator_cmd = DeclareLaunchArgument(
136  'headless',
137  default_value='True',
138  description='Whether to execute gzclient)')
139 
140  declare_world_cmd = DeclareLaunchArgument(
141  'world',
142  # TODO(orduno) Switch back once ROS argument passing has been fixed upstream
143  # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
144  # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
145  # worlds/turtlebot3_worlds/waffle.model')
146  default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
147  description='Full path to world model file to load')
148 
149  declare_robot_name_cmd = DeclareLaunchArgument(
150  'robot_name',
151  default_value='turtlebot3_waffle',
152  description='name of the robot')
153 
154  declare_robot_sdf_cmd = DeclareLaunchArgument(
155  'robot_sdf',
156  default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
157  description='Full path to robot sdf file to spawn the robot in gazebo')
158 
159  # Specify the actions
160  start_gazebo_server_cmd = ExecuteProcess(
161  condition=IfCondition(use_simulator),
162  cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
163  '-s', 'libgazebo_ros_factory.so', world],
164  cwd=[launch_dir], output='screen')
165 
166  start_gazebo_client_cmd = ExecuteProcess(
167  condition=IfCondition(PythonExpression(
168  [use_simulator, ' and not ', headless])),
169  cmd=['gzclient'],
170  cwd=[launch_dir], output='screen')
171 
172  urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
173  with open(urdf, 'r') as infp:
174  robot_description = infp.read()
175 
176  start_robot_state_publisher_cmd = Node(
177  condition=IfCondition(use_robot_state_pub),
178  package='robot_state_publisher',
179  executable='robot_state_publisher',
180  name='robot_state_publisher',
181  namespace=namespace,
182  output='screen',
183  parameters=[{'use_sim_time': use_sim_time,
184  'robot_description': robot_description}],
185  remappings=remappings)
186 
187  start_gazebo_spawner_cmd = Node(
188  package='gazebo_ros',
189  executable='spawn_entity.py',
190  output='screen',
191  arguments=[
192  '-entity', robot_name,
193  '-file', robot_sdf,
194  '-robot_namespace', namespace,
195  '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
196  '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']])
197 
198  rviz_cmd = IncludeLaunchDescription(
199  PythonLaunchDescriptionSource(
200  os.path.join(launch_dir, 'rviz_launch.py')),
201  condition=IfCondition(use_rviz),
202  launch_arguments={'namespace': namespace,
203  'use_namespace': use_namespace,
204  'rviz_config': rviz_config_file}.items())
205 
206  bringup_cmd = IncludeLaunchDescription(
207  PythonLaunchDescriptionSource(
208  os.path.join(launch_dir, 'bringup_launch.py')),
209  launch_arguments={'namespace': namespace,
210  'use_namespace': use_namespace,
211  'slam': slam,
212  'map': map_yaml_file,
213  'use_sim_time': use_sim_time,
214  'params_file': params_file,
215  'autostart': autostart,
216  'use_composition': use_composition,
217  'use_respawn': use_respawn}.items())
218 
219  # Create the launch description and populate
220  ld = LaunchDescription()
221 
222  # Declare the launch options
223  ld.add_action(declare_namespace_cmd)
224  ld.add_action(declare_use_namespace_cmd)
225  ld.add_action(declare_slam_cmd)
226  ld.add_action(declare_map_yaml_cmd)
227  ld.add_action(declare_use_sim_time_cmd)
228  ld.add_action(declare_params_file_cmd)
229  ld.add_action(declare_autostart_cmd)
230  ld.add_action(declare_use_composition_cmd)
231 
232  ld.add_action(declare_rviz_config_file_cmd)
233  ld.add_action(declare_use_simulator_cmd)
234  ld.add_action(declare_use_robot_state_pub_cmd)
235  ld.add_action(declare_use_rviz_cmd)
236  ld.add_action(declare_simulator_cmd)
237  ld.add_action(declare_world_cmd)
238  ld.add_action(declare_robot_name_cmd)
239  ld.add_action(declare_robot_sdf_cmd)
240  ld.add_action(declare_use_respawn_cmd)
241 
242  # Add any conditioned actions
243  ld.add_action(start_gazebo_server_cmd)
244  ld.add_action(start_gazebo_client_cmd)
245  ld.add_action(start_gazebo_spawner_cmd)
246 
247  # Add the actions to launch all of the navigation nodes
248  ld.add_action(start_robot_state_publisher_cmd)
249  ld.add_action(rviz_cmd)
250  ld.add_action(bringup_cmd)
251 
252  return ld
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