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Reintroduce multirobot launch files with updates to TB3 with Harmonic (…
…#4457) * adding docking to multirobot launch files * Use xacro file to plumb namespace into gz topics (#4450) This also removes the `use_simulator` launch argument since it's not needed by spawn_tb3.launch.py Signed-off-by: Addisu Z. Taddese <[email protected]> * fixing collision monitor * add launch files * update tests to use xacro * rever * Bump cache Signed-off-by: Steve Macenski <[email protected]> * Update underlay.repos Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
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nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
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| # Copyright (c) 2023 LG Electronics. | ||
| # 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. | ||
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| import os | ||
| from pathlib import Path | ||
| import tempfile | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import ( | ||
| AppendEnvironmentVariable, | ||
| DeclareLaunchArgument, | ||
| ExecuteProcess, | ||
| GroupAction, | ||
| IncludeLaunchDescription, | ||
| LogInfo, | ||
| OpaqueFunction, | ||
| RegisterEventHandler, | ||
| ) | ||
| from launch.conditions import IfCondition | ||
| from launch.event_handlers import OnShutdown | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration, TextSubstitution | ||
| from nav2_common.launch import ParseMultiRobotPose | ||
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| def generate_launch_description(): | ||
| """ | ||
| Bring up the multi-robots with given launch arguments. | ||
| Launch arguments consist of robot name(which is namespace) and pose for initialization. | ||
| Keep general yaml format for pose information. | ||
| ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}' | ||
| ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}; | ||
| robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}' | ||
| """ | ||
| # Get the launch directory | ||
| bringup_dir = get_package_share_directory('nav2_bringup') | ||
| launch_dir = os.path.join(bringup_dir, 'launch') | ||
| sim_dir = get_package_share_directory('nav2_minimal_tb3_sim') | ||
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| # Simulation settings | ||
| world = LaunchConfiguration('world') | ||
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| # On this example all robots are launched with the same settings | ||
| map_yaml_file = LaunchConfiguration('map') | ||
| params_file = LaunchConfiguration('params_file') | ||
| autostart = LaunchConfiguration('autostart') | ||
| rviz_config_file = LaunchConfiguration('rviz_config') | ||
| use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') | ||
| use_rviz = LaunchConfiguration('use_rviz') | ||
| log_settings = LaunchConfiguration('log_settings', default='true') | ||
|
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| # Declare the launch arguments | ||
| declare_world_cmd = DeclareLaunchArgument( | ||
| 'world', | ||
| default_value=os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'), | ||
| description='Full path to world file to load', | ||
| ) | ||
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| declare_map_yaml_cmd = DeclareLaunchArgument( | ||
| 'map', | ||
| default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'), | ||
| description='Full path to map file to load', | ||
| ) | ||
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| declare_params_file_cmd = DeclareLaunchArgument( | ||
| 'params_file', | ||
| default_value=os.path.join( | ||
| bringup_dir, 'params', 'nav2_multirobot_params_all.yaml' | ||
| ), | ||
| description='Full path to the ROS2 parameters file to use for all launched nodes', | ||
| ) | ||
|
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| declare_autostart_cmd = DeclareLaunchArgument( | ||
| 'autostart', | ||
| default_value='false', | ||
| description='Automatically startup the stacks', | ||
| ) | ||
|
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| declare_rviz_config_file_cmd = DeclareLaunchArgument( | ||
| 'rviz_config', | ||
| default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'), | ||
| description='Full path to the RVIZ config file to use.', | ||
| ) | ||
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| declare_use_robot_state_pub_cmd = DeclareLaunchArgument( | ||
| 'use_robot_state_pub', | ||
| default_value='True', | ||
| description='Whether to start the robot state publisher', | ||
| ) | ||
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| declare_use_rviz_cmd = DeclareLaunchArgument( | ||
| 'use_rviz', default_value='True', description='Whether to start RVIZ' | ||
| ) | ||
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| # Start Gazebo with plugin providing the robot spawning service | ||
| world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf') | ||
| world_sdf_xacro = ExecuteProcess( | ||
| cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world]) | ||
| start_gazebo_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', | ||
| 'gz_sim.launch.py')), | ||
| launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items()) | ||
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| remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown( | ||
| on_shutdown=[ | ||
| OpaqueFunction(function=lambda _: os.remove(world_sdf)) | ||
| ])) | ||
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| robots_list = ParseMultiRobotPose('robots').value() | ||
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| # Define commands for launching the navigation instances | ||
| bringup_cmd_group = [] | ||
| for robot_name in robots_list: | ||
| init_pose = robots_list[robot_name] | ||
| group = GroupAction( | ||
| [ | ||
| LogInfo( | ||
| msg=[ | ||
| 'Launching namespace=', | ||
| robot_name, | ||
| ' init_pose=', | ||
| str(init_pose), | ||
| ] | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(launch_dir, 'rviz_launch.py') | ||
| ), | ||
| condition=IfCondition(use_rviz), | ||
| launch_arguments={ | ||
| 'namespace': TextSubstitution(text=robot_name), | ||
| 'use_namespace': 'True', | ||
| 'rviz_config': rviz_config_file, | ||
| }.items(), | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(bringup_dir, 'launch', 'tb3_simulation_launch.py') | ||
| ), | ||
| launch_arguments={ | ||
| 'namespace': robot_name, | ||
| 'use_namespace': 'True', | ||
| 'map': map_yaml_file, | ||
| 'use_sim_time': 'True', | ||
| 'params_file': params_file, | ||
| 'autostart': autostart, | ||
| 'use_rviz': 'False', | ||
| 'use_simulator': 'False', | ||
| 'headless': 'False', | ||
| 'use_robot_state_pub': use_robot_state_pub, | ||
| 'x_pose': TextSubstitution(text=str(init_pose['x'])), | ||
| 'y_pose': TextSubstitution(text=str(init_pose['y'])), | ||
| 'z_pose': TextSubstitution(text=str(init_pose['z'])), | ||
| 'roll': TextSubstitution(text=str(init_pose['roll'])), | ||
| 'pitch': TextSubstitution(text=str(init_pose['pitch'])), | ||
| 'yaw': TextSubstitution(text=str(init_pose['yaw'])), | ||
| 'robot_name': TextSubstitution(text=robot_name), | ||
| }.items(), | ||
| ), | ||
| ] | ||
| ) | ||
|
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| bringup_cmd_group.append(group) | ||
|
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| set_env_vars_resources = AppendEnvironmentVariable( | ||
| 'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')) | ||
| set_env_vars_resources2 = AppendEnvironmentVariable( | ||
| 'GZ_SIM_RESOURCE_PATH', | ||
| str(Path(os.path.join(sim_dir)).parent.resolve())) | ||
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| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
| ld.add_action(set_env_vars_resources) | ||
| ld.add_action(set_env_vars_resources2) | ||
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| # Declare the launch options | ||
| ld.add_action(declare_world_cmd) | ||
| ld.add_action(declare_map_yaml_cmd) | ||
| ld.add_action(declare_params_file_cmd) | ||
| ld.add_action(declare_use_rviz_cmd) | ||
| ld.add_action(declare_autostart_cmd) | ||
| ld.add_action(declare_rviz_config_file_cmd) | ||
| ld.add_action(declare_use_robot_state_pub_cmd) | ||
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| # Add the actions to start gazebo, robots and simulations | ||
| ld.add_action(world_sdf_xacro) | ||
| ld.add_action(start_gazebo_cmd) | ||
| ld.add_action(remove_temp_sdf_file) | ||
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| ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))])) | ||
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| ld.add_action( | ||
| LogInfo(condition=IfCondition(log_settings), msg=['map yaml: ', map_yaml_file]) | ||
| ) | ||
| ld.add_action( | ||
| LogInfo(condition=IfCondition(log_settings), msg=['params yaml: ', params_file]) | ||
| ) | ||
| ld.add_action( | ||
| LogInfo( | ||
| condition=IfCondition(log_settings), | ||
| msg=['rviz config file: ', rviz_config_file], | ||
| ) | ||
| ) | ||
| ld.add_action( | ||
| LogInfo( | ||
| condition=IfCondition(log_settings), | ||
| msg=['using robot state pub: ', use_robot_state_pub], | ||
| ) | ||
| ) | ||
| ld.add_action( | ||
| LogInfo(condition=IfCondition(log_settings), msg=['autostart: ', autostart]) | ||
| ) | ||
|
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| for cmd in bringup_cmd_group: | ||
| ld.add_action(cmd) | ||
|
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| return ld |
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