localization_launch.py

# Copyright (c) 2018 Intel Corporation
#
# 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, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import (AndSubstitution, EqualsSubstitution, LaunchConfiguration,
                                  NotEqualsSubstitution, PythonExpression)
from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
from launch_ros.descriptions import ComposableNode, ParameterFile
from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
 
def get_lifecycle_nodes(context):
    lifecycle_nodes = []
    if LaunchConfigAsBool('serve_static_map').perform(context) == 'True':
        lifecycle_nodes.append('map_server')
    if LaunchConfigAsBool('use_localization').perform(context) == 'True':
        lifecycle_nodes.append('amcl')
    return tuple(lifecycle_nodes)
 
 
def generate_launch_description() -> LaunchDescription:
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')
 
    namespace = LaunchConfiguration('namespace')
    map_yaml_file = LaunchConfiguration('map')
    use_sim_time = LaunchConfigAsBool('use_sim_time')
    use_localization = LaunchConfigAsBool('use_localization')
    serve_static_map = LaunchConfigAsBool('serve_static_map')
    params_file = LaunchConfiguration('params_file')
    use_composition = LaunchConfigAsBool('use_composition')
    use_intra_process_comms = LaunchConfigAsBool('use_intra_process_comms')
    container_name = LaunchConfiguration('container_name')
    container_name_full = (namespace, '/', container_name)
    use_respawn = LaunchConfigAsBool('use_respawn')
    log_level = LaunchConfiguration('log_level')
 
    # Map fully qualified names to relative ones so the node's namespace can be prepended.
    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
    configured_params = ParameterFile(
        RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites={},
            convert_types=True,
        ),
        allow_substs=True,
    )
 
    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1'
    )
 
    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace', default_value='', description='Top-level namespace'
    )
 
    declare_map_yaml_cmd = DeclareLaunchArgument(
        'map', default_value='', description='Full path to map yaml file to load'
    )
 
    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true',
    )
 
    declare_use_localization_cmd = DeclareLaunchArgument(
        'use_localization',
        default_value='True',
        description='Whether to launch localization',
    )
 
    declare_serve_static_map_cmd = DeclareLaunchArgument(
        'serve_static_map',
        default_value=use_localization,
        description='Whether to serve the static map',
    )
 
    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_use_composition_cmd = DeclareLaunchArgument(
        'use_composition',
        default_value='False',
        description='Use composed bringup if True',
    )
 
    declare_use_intra_process_comms_cmd = DeclareLaunchArgument(
        'use_intra_process_comms',
        default_value='False',
        description='Use intra process communications if True',
    )
 
    declare_container_name_cmd = DeclareLaunchArgument(
        'container_name',
        default_value='nav2_container',
        description='the name of container that nodes will load in if use composition',
    )
 
    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn',
        default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
    )
 
    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info', description='log level'
    )
 
    load_nodes = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            PushROSNamespace(namespace),
            SetParameter('use_sim_time', use_sim_time),
            Node(
                condition=IfCondition(
                    AndSubstitution(
                        serve_static_map,
                        EqualsSubstitution(LaunchConfiguration('map'), ''),
                    )
                ),
                package='nav2_map_server',
                executable='map_server',
                name='map_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                condition=IfCondition(
                    AndSubstitution(
                        serve_static_map,
                        NotEqualsSubstitution(LaunchConfiguration('map'), ''),
                    )
                ),
                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}],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                condition=IfCondition(use_localization),
                package='nav2_amcl',
                executable='amcl',
                name='amcl',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
        ],
    )
    # LoadComposableNode for map server twice depending if we should use the
    # value of map from a CLI or launch default or user defined value in the
    # yaml configuration file. They are separated since the conditions
    # currently only work on the LoadComposableNodes commands and not on the
    # ComposableNode node function itself
    load_composable_nodes = GroupAction(
        condition=IfCondition(use_composition),
        actions=[
            PushROSNamespace(namespace),
            SetParameter('use_sim_time', use_sim_time),
            LoadComposableNodes(
                target_container=container_name_full,
                condition=IfCondition(
                    AndSubstitution(
                        serve_static_map,
                        EqualsSubstitution(LaunchConfiguration('map'), ''),
                    )
                ),
                composable_node_descriptions=[
                    ComposableNode(
                        package='nav2_map_server',
                        plugin='nav2_map_server::MapServer',
                        name='map_server',
                        parameters=[configured_params],
                        remappings=remappings,
                        extra_arguments=[{'use_intra_process_comms': use_intra_process_comms}],
                    ),
                ],
            ),
            LoadComposableNodes(
                target_container=container_name_full,
                condition=IfCondition(
                    AndSubstitution(
                        serve_static_map,
                        NotEqualsSubstitution(LaunchConfiguration('map'), ''),
                    )
                ),
                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,
                        extra_arguments=[{'use_intra_process_comms': use_intra_process_comms}],
                    ),
                ],
            ),
            LoadComposableNodes(
                condition=IfCondition(use_localization),
                target_container=container_name_full,
                composable_node_descriptions=[
                    ComposableNode(
                        package='nav2_amcl',
                        plugin='nav2_amcl::AmclNode',
                        name='amcl',
                        parameters=[configured_params],
                        remappings=remappings,
                        extra_arguments=[{'use_intra_process_comms': use_intra_process_comms}],
                    ),
                ],
            ),
        ],
    )
 
    # Create the launch description and populate
    ld = LaunchDescription()
 
    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)
 
    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_map_yaml_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_use_localization_cmd)
    ld.add_action(declare_serve_static_map_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_use_intra_process_comms_cmd)
    ld.add_action(declare_container_name_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)
 
    # Add the actions to launch all of the localiztion nodes
    ld.add_action(load_nodes)
    ld.add_action(load_composable_nodes)
 
    return ld