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* Add namespace * fix map saving * fix healthcheck namespace * healthcheck
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| @@ -0,0 +1,177 @@ | ||
| # 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 launch import LaunchDescription | ||
| from launch.actions import ( | ||
| DeclareLaunchArgument, | ||
| GroupAction, | ||
| IncludeLaunchDescription, | ||
| SetEnvironmentVariable, | ||
| OpaqueFunction, | ||
| ) | ||
| from launch.conditions import IfCondition | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PythonExpression | ||
| from launch_ros.actions import Node | ||
| from launch_ros.actions import PushRosNamespace | ||
| from launch_ros.descriptions import ParameterFile | ||
| from nav2_common.launch import RewrittenYaml, ReplaceString | ||
|
|
||
|
|
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| def launch_setup(context, *args, **kwargs): | ||
| # Get the launch directory | ||
| launch_dir = "/husarion_utils" | ||
|
|
||
| # Create the launch configuration variables | ||
| namespace = LaunchConfiguration("namespace").perform(context) | ||
| map_yaml_file = LaunchConfiguration("map").perform(context) | ||
| use_sim_time = LaunchConfiguration("use_sim_time").perform(context) | ||
| params_file = LaunchConfiguration("params_file").perform(context) | ||
| slam = LaunchConfiguration("slam").perform(context) | ||
| autostart = LaunchConfiguration("autostart").perform(context) | ||
| use_composition = LaunchConfiguration("use_composition").perform(context) | ||
| use_respawn = LaunchConfiguration("use_respawn").perform(context) | ||
| log_level = LaunchConfiguration("log_level").perform(context) | ||
|
|
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| remappings = [("/tf", "tf"), ("/tf_static", "tf_static")] | ||
|
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| # Create our own temporary YAML files that include substitutions | ||
| param_substitutions = {"use_sim_time": use_sim_time, "yaml_filename": map_yaml_file} | ||
|
|
||
| if namespace: | ||
| params_file = ReplaceString( | ||
| source_file=params_file, replacements={"<robot_namespace>": namespace} | ||
| ) | ||
| else: | ||
| params_file = ReplaceString( | ||
| source_file=params_file, replacements={"<robot_namespace>/": ""} | ||
| ) | ||
|
|
||
| configured_params = ParameterFile( | ||
| RewrittenYaml( | ||
| source_file=params_file, | ||
| root_key=namespace, | ||
| param_rewrites=param_substitutions, | ||
| convert_types=True, | ||
| ), | ||
| allow_substs=True, | ||
| ) | ||
|
|
||
| # Specify the actions | ||
| bringup_cmd_group = GroupAction( | ||
| [ | ||
| PushRosNamespace(namespace), | ||
| Node( | ||
| condition=IfCondition(use_composition), | ||
| name="nav2_container", | ||
| package="rclcpp_components", | ||
| executable="component_container_isolated", | ||
| parameters=[configured_params, {"autostart": autostart}], | ||
| arguments=["--ros-args", "--log-level", log_level], | ||
| remappings=remappings, | ||
| output="screen", | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(launch_dir, "slam_launch.py")), | ||
| condition=IfCondition(slam), | ||
| launch_arguments={ | ||
| "namespace": namespace, | ||
| "use_sim_time": use_sim_time, | ||
| "autostart": autostart, | ||
| "use_respawn": use_respawn, | ||
| "params_file": params_file, | ||
| }.items(), | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(launch_dir, "localization_launch.py")), | ||
| condition=IfCondition(PythonExpression(["not ", slam])), | ||
| launch_arguments={ | ||
| "namespace": namespace, | ||
| "map": map_yaml_file, | ||
| "use_sim_time": use_sim_time, | ||
| "autostart": autostart, | ||
| "params_file": params_file, | ||
| "use_composition": use_composition, | ||
| "use_respawn": use_respawn, | ||
| "container_name": "nav2_container", | ||
| }.items(), | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(launch_dir, "navigation_launch.py")), | ||
| launch_arguments={ | ||
| "namespace": namespace, | ||
| "use_sim_time": use_sim_time, | ||
| "autostart": autostart, | ||
| "params_file": params_file, | ||
| "use_composition": use_composition, | ||
| "use_respawn": use_respawn, | ||
| "container_name": "nav2_container", | ||
| }.items(), | ||
| ), | ||
| ] | ||
| ) | ||
|
|
||
| healthcheck_node = Node( | ||
| package="healthcheck_pkg", | ||
| executable="healthcheck_node", | ||
| name="healthcheck_navigation", | ||
| namespace=namespace, | ||
| output="screen", | ||
| ) | ||
|
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| return [bringup_cmd_group, healthcheck_node] | ||
|
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|
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| def generate_launch_description(): | ||
| return LaunchDescription( | ||
| [ | ||
| SetEnvironmentVariable("RCUTILS_LOGGING_BUFFERED_STREAM", "1"), | ||
| DeclareLaunchArgument( | ||
| "namespace", | ||
| default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""), | ||
| description="Top-level namespace", | ||
| ), | ||
| DeclareLaunchArgument("slam", default_value="False", description="Whether run a SLAM"), | ||
| DeclareLaunchArgument("map", description="Full path to map yaml file to load"), | ||
| DeclareLaunchArgument( | ||
| "use_sim_time", | ||
| default_value="false", | ||
| description="Use simulation (Gazebo) clock if true", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "params_file", | ||
| default_value=os.path.join("/params.yaml"), | ||
| description="Full path to the ROS2 parameters file to use for all launched nodes", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "autostart", | ||
| default_value="true", | ||
| description="Automatically startup the nav2 stack", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "use_composition", | ||
| default_value="True", | ||
| description="Whether to use composed bringup", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "use_respawn", | ||
| default_value="False", | ||
| description="Whether to respawn if a node crashes. Applied when composition is disabled.", | ||
| ), | ||
| DeclareLaunchArgument("log_level", default_value="info", description="log level"), | ||
| OpaqueFunction(function=launch_setup), | ||
| ] | ||
| ) |
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