route_tool.launch.py

# Copyright (c) 2025 John Chrosniak
#
# 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
from launch.substitutions import LaunchConfiguration
import launch_ros.actions
 
 
def generate_launch_description() -> LaunchDescription:
 
    # Nodes launching commands
    map_file = LaunchConfiguration('yaml_filename')
 
    declare_map_file_cmd = DeclareLaunchArgument(
        'yaml_filename',
        default_value='',
        description='Full path to an occupancy grid map yaml file',
    )
 
    start_route_tool_cmd = launch_ros.actions.Node(
        package='rviz2',
        executable='rviz2',
        output='screen',
        arguments=[
            '-d'
            + os.path.join(
                get_package_share_directory('nav2_rviz_plugins'),
                'rviz',
                'route_tool.rviz',
            )
        ],
    )
 
    start_map_server = launch_ros.actions.Node(
        package='nav2_map_server',
        executable='map_server',
        output='screen',
        parameters=[{'yaml_filename': map_file}],
    )
 
    start_lifecycle_manager_cmd = launch_ros.actions.Node(
        package='nav2_lifecycle_manager',
        executable='lifecycle_manager',
        name='lifecycle_manager',
        output='screen',
        parameters=[
            {'use_sim_time': False},
            {'autostart': True},
            {'node_names': ['map_server']},
        ],
    )
 
    return LaunchDescription(
        [
            declare_map_file_cmd,
            start_route_tool_cmd,
            start_map_server,
            start_lifecycle_manager_cmd,
        ]
    )