Simplify namespaced bringups and multirobot sim (#4715)

* WIP single robot namespacing working Signed-off-by: Luca Della Vedova <[email protected]> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <[email protected]> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <[email protected]> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <[email protected]> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <[email protected]> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <[email protected]> * Address review feedback Signed-off-by: Luca Della Vedova <[email protected]> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <[email protected]> * Always join with parent namespace Signed-off-by: Luca Della Vedova <[email protected]> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <[email protected]> * Fix integration test Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <[email protected]> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <[email protected]> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <[email protected]> --------- Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]>
ros-navigation · Dec 3, 2024 · 3ee384d · 3ee384d
1 parent bea6b6d
commit 3ee384d
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Showing 49 changed files with 146 additions and 1,613 deletions.
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
@@ -29,7 +29,7 @@
 from launch_ros.actions import Node
 from launch_ros.actions import PushROSNamespace
 from launch_ros.descriptions import ParameterFile
-from nav2_common.launch import ReplaceString, RewrittenYaml
+from nav2_common.launch import RewrittenYaml
 
 
 def generate_launch_description():
@@ -39,7 +39,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     slam = LaunchConfiguration('slam')
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
@@ -58,16 +57,6 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
-    # Only it applys when `use_namespace` is True.
-    # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
-    # in config file 'nav2_multirobot_params.yaml' as a default & example.
-    # User defined config file should contain '<robot_namespace>' keyword for the replacements.
-    params_file = ReplaceString(
-        source_file=params_file,
-        replacements={'<robot_namespace>': ('/', namespace)},
-        condition=IfCondition(use_namespace),
-    )
-
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,
@@ -86,12 +75,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_slam_cmd = DeclareLaunchArgument(
         'slam', default_value='False', description='Whether run a SLAM'
     )
@@ -142,7 +125,7 @@ def generate_launch_description():
     # Specify the actions
     bringup_cmd_group = GroupAction(
         [
-            PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace),
+            PushROSNamespace(namespace),
             Node(
                 condition=IfCondition(use_composition),
                 name='nav2_container',
@@ -207,7 +190,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)

diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -80,7 +80,7 @@ def generate_launch_description():
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
         default_value=os.path.join(
-            bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'
+            bringup_dir, 'params', 'nav2_params.yaml'
         ),
         description='Full path to the ROS2 parameters file to use for all launched nodes',
     )
@@ -93,7 +93,7 @@ def generate_launch_description():
 
     declare_rviz_config_file_cmd = DeclareLaunchArgument(
         'rviz_config',
-        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
         description='Full path to the RVIZ config file to use.',
     )
 
@@ -144,7 +144,6 @@ def generate_launch_description():
                     condition=IfCondition(use_rviz),
                     launch_arguments={
                         'namespace': TextSubstitution(text=robot_name),
-                        'use_namespace': 'True',
                         'rviz_config': rviz_config_file,
                     }.items(),
                 ),
@@ -154,7 +153,6 @@ def generate_launch_description():
                     ),
                     launch_arguments={
                         'namespace': robot_name,
-                        'use_namespace': 'True',
                         'map': map_yaml_file,
                         'use_sim_time': 'True',
                         'params_file': params_file,

diff --git a/nav2_bringup/launch/rviz_launch.py b/nav2_bringup/launch/rviz_launch.py
@@ -18,12 +18,10 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
-from launch.conditions import IfCondition, UnlessCondition
 from launch.event_handlers import OnProcessExit
 from launch.events import Shutdown
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from nav2_common.launch import ReplaceString
 
 
 def generate_launch_description():
@@ -32,7 +30,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     rviz_config_file = LaunchConfiguration('rviz_config')
     use_sim_time = LaunchConfiguration('use_sim_time')
 
@@ -46,12 +43,6 @@ def generate_launch_description():
         ),
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_rviz_config_file_cmd = DeclareLaunchArgument(
         'rviz_config',
         default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
@@ -65,68 +56,37 @@ def generate_launch_description():
 
     # Launch rviz
     start_rviz_cmd = Node(
-        condition=UnlessCondition(use_namespace),
         package='rviz2',
         executable='rviz2',
+        namespace=namespace,
         arguments=['-d', rviz_config_file],
         output='screen',
         parameters=[{'use_sim_time': use_sim_time}],
-    )
-
-    namespaced_rviz_config_file = ReplaceString(
-        source_file=rviz_config_file,
-        replacements={'<robot_namespace>': ('/', namespace)},
-    )
-
-    start_namespaced_rviz_cmd = Node(
-        condition=IfCondition(use_namespace),
-        package='rviz2',
-        executable='rviz2',
-        namespace=namespace,
-        arguments=['-d', namespaced_rviz_config_file],
-        parameters=[{'use_sim_time': use_sim_time}],
-        output='screen',
         remappings=[
-            ('/map', 'map'),
             ('/tf', 'tf'),
             ('/tf_static', 'tf_static'),
-            ('/goal_pose', 'goal_pose'),
-            ('/clicked_point', 'clicked_point'),
-            ('/initialpose', 'initialpose'),
         ],
     )
 
     exit_event_handler = RegisterEventHandler(
-        condition=UnlessCondition(use_namespace),
         event_handler=OnProcessExit(
             target_action=start_rviz_cmd,
             on_exit=EmitEvent(event=Shutdown(reason='rviz exited')),
         ),
     )
 
-    exit_event_handler_namespaced = RegisterEventHandler(
-        condition=IfCondition(use_namespace),
-        event_handler=OnProcessExit(
-            target_action=start_namespaced_rviz_cmd,
-            on_exit=EmitEvent(event=Shutdown(reason='rviz exited')),
-        ),
-    )
-
     # Create the launch description and populate
     ld = LaunchDescription()
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_rviz_config_file_cmd)
     ld.add_action(declare_use_sim_time_cmd)
 
     # Add any conditioned actions
     ld.add_action(start_rviz_cmd)
-    ld.add_action(start_namespaced_rviz_cmd)
 
     # Add other nodes and processes we need
     ld.add_action(exit_event_handler)
-    ld.add_action(exit_event_handler_namespaced)
 
     return ld
diff --git a/nav2_bringup/launch/tb3_loopback_simulation.launch.py b/nav2_bringup/launch/tb3_loopback_simulation.launch.py
@@ -42,7 +42,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     params_file = LaunchConfiguration('params_file')
     autostart = LaunchConfiguration('autostart')
@@ -61,12 +60,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
         default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
@@ -134,7 +127,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': 'True',
             'rviz_config': rviz_config_file,
         }.items(),
@@ -144,7 +136,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'map': map_yaml_file,
             'use_sim_time': 'True',
             'params_file': params_file,
@@ -203,7 +194,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_params_file_cmd)
     ld.add_action(declare_autostart_cmd)

diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -44,7 +44,6 @@ def generate_launch_description():
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
@@ -77,12 +76,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_slam_cmd = DeclareLaunchArgument(
         'slam', default_value='False', description='Whether run a SLAM'
     )
@@ -186,7 +179,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': use_sim_time,
             'rviz_config': rviz_config_file,
         }.items(),
@@ -196,7 +188,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'slam': slam,
             'map': map_yaml_file,
             'use_sim_time': use_sim_time,
@@ -255,7 +246,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)

diff --git a/nav2_bringup/launch/tb4_loopback_simulation.launch.py b/nav2_bringup/launch/tb4_loopback_simulation.launch.py
@@ -42,7 +42,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     params_file = LaunchConfiguration('params_file')
     autostart = LaunchConfiguration('autostart')
@@ -61,12 +60,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
         default_value=os.path.join(bringup_dir, 'maps', 'depot.yaml'),  # Try warehouse.yaml!
@@ -132,7 +125,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': 'True',
             'rviz_config': rviz_config_file,
         }.items(),
@@ -142,7 +134,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'map': map_yaml_file,
             'use_sim_time': 'True',
             'params_file': params_file,
@@ -210,7 +201,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_params_file_cmd)
     ld.add_action(declare_autostart_cmd)

diff --git a/nav2_bringup/launch/tb4_simulation_launch.py b/nav2_bringup/launch/tb4_simulation_launch.py
@@ -48,7 +48,6 @@ def generate_launch_description():
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
@@ -81,12 +80,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_slam_cmd = DeclareLaunchArgument(
         'slam', default_value='False', description='Whether run a SLAM'
     )
@@ -187,7 +180,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': use_sim_time,
             'rviz_config': rviz_config_file,
         }.items(),
@@ -197,7 +189,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'slam': slam,
             'map': map_yaml_file,
             'use_sim_time': use_sim_time,
@@ -261,7 +252,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)