tb4_loopback_simulation_launch.py

# Copyright (C) 2024 Open Navigation LLC
#
# 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.
 
"""This is all-in-one launch script intended for use by nav2 developers."""
 
import os
 
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, Node, SetParameter
from launch_ros.descriptions import ComposableNode, ParameterFile
from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
 
def generate_launch_description() -> LaunchDescription:
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')
    loopback_sim_dir = get_package_share_directory('nav2_loopback_sim')
    launch_dir = os.path.join(bringup_dir, 'launch')
    desc_dir = get_package_share_directory('nav2_minimal_tb4_description')
 
    # Create the launch configuration variables
    namespace = LaunchConfiguration('namespace')
    map_yaml_file = LaunchConfiguration('map')
    graph_filepath = LaunchConfiguration('graph')
    params_file = LaunchConfiguration('params_file')
    autostart = LaunchConfigAsBool('autostart')
    use_composition = LaunchConfigAsBool('use_composition')
    use_intra_process_comms = LaunchConfigAsBool('use_intra_process_comms')
    use_respawn = LaunchConfigAsBool('use_respawn')
 
    # Launch configuration variables specific to simulation
    rviz_config_file = LaunchConfiguration('rviz_config_file')
    use_robot_state_pub = LaunchConfigAsBool('use_robot_state_pub')
    use_rviz = LaunchConfigAsBool('use_rviz')
    container_name_full = (namespace, '/', 'nav2_container')
 
    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
    # Declare the launch arguments
    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace', default_value='', description='Top-level namespace'
    )
 
    declare_map_yaml_cmd = DeclareLaunchArgument(
        'map',
        default_value=os.path.join(bringup_dir, 'maps', 'depot.yaml'),  # Try warehouse.yaml!
        description='Full path to map file to load',
    )
 
    declare_graph_file_cmd = DeclareLaunchArgument(
        'graph',
        default_value=os.path.join(bringup_dir, 'graphs', 'depot_graph.geojson'),
    )
 
    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='True',
        description='Whether to use composed bringup',
    )
 
    declare_use_intra_process_comms_cmd = DeclareLaunchArgument(
        'use_intra_process_comms',
        default_value='False',
        description='Whether to use intra process communication',
    )
 
    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn',
        default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
    )
 
    declare_rviz_config_file_cmd = DeclareLaunchArgument(
        'rviz_config_file',
        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
        description='Full path to the RVIZ config file to use',
    )
 
    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
        'use_robot_state_pub',
        default_value='True',
        description='Whether to start the robot state publisher',
    )
 
    declare_use_rviz_cmd = DeclareLaunchArgument(
        'use_rviz', default_value='True', description='Whether to start RVIZ'
    )
 
    sdf = os.path.join(desc_dir, 'urdf', 'standard', 'turtlebot4.urdf.xacro')
    start_robot_state_publisher_cmd = Node(
        condition=IfCondition(use_robot_state_pub),
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        namespace=namespace,
        output='screen',
        parameters=[
            {'use_sim_time': True, 'robot_description': Command(['xacro', ' ', sdf])}
        ],
        remappings=remappings,
    )
 
    rviz_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
        condition=IfCondition(use_rviz),
        launch_arguments=[
            ('namespace', namespace),
            ('use_sim_time', 'True'),
            ('rviz_config', rviz_config_file),
        ],
    )
 
    bringup_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
        launch_arguments={
            'namespace': namespace,
            'map': map_yaml_file,
            'graph': graph_filepath,
            'use_sim_time': 'True',
            'params_file': params_file,
            'autostart': autostart,
            'use_composition': use_composition,
            'use_intra_process_comms': use_intra_process_comms,
            'use_respawn': use_respawn,
            'use_keepout_zones': 'False',  # Keepout zones not used in loopback simulation
            'use_speed_zones': 'False',  # Speed zones not used in loopback simulation
            'use_localization': 'False',  # Don't use SLAM, AMCL
            'container_name': 'nav2_container',
        }.items(),
    )
 
    loopback_sim_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(loopback_sim_dir, 'loopback_simulation.launch.py')),
        launch_arguments=[
            ('params_file', params_file),
            ('scan_frame_id', 'rplidar_link'),
        ],
    )
 
    static_publisher_cmd = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        arguments=[
            '--x', '0.0', '--y', '0.0', '--z', '0.0',
            '--roll', '0', '--pitch', '0', '--yaw', '0',
            '--frame-id', 'base_footprint', '--child-frame-id', 'base_link']
    )
 
    configured_params = ParameterFile(
        RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites={},
            convert_types=True,
        ),
        allow_substs=True,
    )
 
    start_map_server = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            SetParameter('use_sim_time', True),
            Node(
                package='nav2_map_server',
                executable='map_server',
                name='map_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params, {'yaml_filename': map_yaml_file}],
                remappings=remappings,
            ),
            Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_map_server',
                output='screen',
                parameters=[
                    configured_params,
                    {'autostart': autostart}, {'node_names': ['map_server']}],
            ),
        ]
    )
 
    start_composable_map_server = GroupAction(
        condition=IfCondition(use_composition),
        actions=[
            SetParameter('use_sim_time', True),
            LoadComposableNodes(
                target_container=container_name_full,
                composable_node_descriptions=[
                    ComposableNode(
                        package='nav2_map_server',
                        plugin='nav2_map_server::MapServer',
                        name='map_server',
                        parameters=[configured_params, {'yaml_filename': map_yaml_file}],
                        remappings=remappings,
                    ),
                    ComposableNode(
                        package='nav2_lifecycle_manager',
                        plugin='nav2_lifecycle_manager::LifecycleManager',
                        name='lifecycle_manager_map_server',
                        parameters=[
                            configured_params,
                            {'autostart': autostart}, {'node_names': ['map_server']}
                        ],
                        extra_arguments=[{'use_intra_process_comms': use_intra_process_comms}]
                    ),
                ],
            ),
        ],
    )
 
    # Create the launch description and populate
    ld = LaunchDescription()
 
    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_map_yaml_cmd)
    ld.add_action(declare_graph_file_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_use_intra_process_comms_cmd)
 
    ld.add_action(declare_rviz_config_file_cmd)
    ld.add_action(declare_use_robot_state_pub_cmd)
    ld.add_action(declare_use_rviz_cmd)
    ld.add_action(declare_use_respawn_cmd)
 
    # Add the actions to launch all of the navigation nodes
    ld.add_action(start_robot_state_publisher_cmd)
    ld.add_action(static_publisher_cmd)
    ld.add_action(start_map_server)
    ld.add_action(start_composable_map_server)
    ld.add_action(loopback_sim_cmd)
    ld.add_action(rviz_cmd)
    ld.add_action(bringup_cmd)
 
    return ld