port to new gazebo (#4469)

Signed-off-by: stevedan <[email protected]>

nav2_system_tests/CMakeLists.txt

@@ -118,8 +118,8 @@ if(BUILD_TESTING)
   add_subdirectory(src/system)
   add_subdirectory(src/system_failure)
   add_subdirectory(src/updown)
+  add_subdirectory(src/waypoint_follower)
   # Uncomment after https://github.com/ros-navigation/navigation2/pull/3634
-  # add_subdirectory(src/waypoint_follower)
   # add_subdirectory(src/gps_navigation)
   # add_subdirectory(src/behaviors/spin)
   # add_subdirectory(src/behaviors/wait)

nav2_system_tests/src/waypoint_follower/CMakeLists.txt

@@ -5,8 +5,5 @@ ament_add_test(test_waypoint_follower
   TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
-    TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
-    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
-    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
     BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
 )

nav2_system_tests/src/waypoint_follower/test_case_py.launch

@@ -14,31 +14,48 @@
 # limitations under the License.
 
 import os
+from pathlib import Path
 import sys
 
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch import LaunchService
-from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.actions import (
+    AppendEnvironmentVariable,
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+)
 from launch.launch_context import LaunchContext
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
+from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
-    map_yaml_file = os.getenv('TEST_MAP')
-    world = os.getenv('TEST_WORLD')
+    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
+
+    world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
+    robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
+
+    urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    with open(urdf, 'r') as infp:
+        robot_description = infp.read()
+
+    map_yaml_file = os.path.join(nav2_bringup_dir, 'maps', 'tb3_sandbox.yaml')
+
 
     bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'),
                                     'behavior_trees',
                                     os.getenv('BT_NAVIGATOR_XML'))
 
-    bringup_dir = get_package_share_directory('nav2_bringup')
-    params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml')
+    params_file = os.path.join(nav2_bringup_dir, 'params/nav2_params.yaml')
 
     # Replace the `use_astar` setting on the params file
     param_substitutions = {
@@ -55,30 +72,46 @@ def generate_launch_description():
     return LaunchDescription([
         SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
         SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
-
-        # Launch gazebo server for simulation
-        ExecuteProcess(
-            cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
-                 '--minimal_comms', world],
-            output='screen'),
-
-        # TODO(orduno) Launch the robot state publisher instead
-        #              using a local copy of TB3 urdf file
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
-
+        AppendEnvironmentVariable(
+                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+        ),
+        AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            str(Path(os.path.join(sim_dir)).parent.resolve())
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
+            ),
+            launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')
+            ),
+            launch_arguments={
+                'use_sim_time': 'True',
+                'robot_sdf': robot_sdf,
+                'x_pose': '-2.0',
+                'y_pose': '-0.5',
+                'z_pose': '0.01',
+                'roll': '0.0',
+                'pitch': '0.0',
+                'yaw': '0.0',
+            }.items(),
+        ),
         Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
             output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
-
+            parameters=[
+                {'use_sim_time': True, 'robot_description': robot_description}
+            ],
+        ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                os.path.join(bringup_dir, 'launch', 'bringup_launch.py')),
+                os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
             launch_arguments={
                               'map': map_yaml_file,
                               'use_sim_time': 'True',
@@ -101,7 +134,9 @@ def main(argv=sys.argv[1:]):
     lts.add_test_action(ld, test1_action)
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
-    return lts.run(ls)
+    return_code = lts.run(ls)
+    kill_os_processes('gz sim')
+    return return_code
 
 
 if __name__ == '__main__':