Added nav2 simple commander with the new Gazebo

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v14\
+              - "<< parameters.key >>-v15\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v14\
+              - "<< parameters.key >>-v15\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v14\
+            key: "<< parameters.key >>-v15\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

nav2_bringup/launch/rviz_launch.py

@@ -34,6 +34,7 @@ def generate_launch_description():
     namespace = LaunchConfiguration('namespace')
     use_namespace = LaunchConfiguration('use_namespace')
     rviz_config_file = LaunchConfiguration('rviz_config')
+    use_sim_time = LaunchConfiguration('use_sim_time')
 
     # Declare the launch arguments
     declare_namespace_cmd = DeclareLaunchArgument(
@@ -52,9 +53,17 @@ def generate_launch_description():
         default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
         description='Full path to the RVIZ config file to use')
 
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true')
+
     # Launch rviz
     start_rviz_cmd = Node(
         condition=UnlessCondition(use_namespace),
+        parameters=[{
+            'use_sim_time': use_sim_time,
+        }],
         package='rviz2',
         executable='rviz2',
         arguments=['-d', rviz_config_file],
@@ -66,6 +75,9 @@ def generate_launch_description():
 
     start_namespaced_rviz_cmd = Node(
         condition=IfCondition(use_namespace),
+        parameters=[{
+            'use_sim_time': use_sim_time,
+        }],
         package='rviz2',
         executable='rviz2',
         namespace=namespace,
@@ -97,6 +109,7 @@ def generate_launch_description():
     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)

nav2_simple_commander/launch/gz_assisted_teleop_example_launch.py

@@ -0,0 +1,207 @@
+# Copyright (c) 2021 Samsung Research America
+# Copyright (c) 2022 Joshua Wallace
+#
+# 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, ExecuteProcess, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import xacro
+
+
+def generate_launch_description():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'gz_warehouse.world')
+
+    # Launch configuration variables
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    # TODO(orduno) Substitute with `PushNodeRemapping`
+    #              https://github.com/ros2/launch_ros/issues/56
+    remappings = [('/tf', 'tf'),
+                  ('/tf_static', 'tf_static')]
+
+    # Declare the launch arguments
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    # Launch gazebo environment
+    start_gazebo_server_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare('ros_gz_sim'),
+                'launch',
+                'gz_sim.launch.py'
+            ])
+        ),
+        launch_arguments={'gz_args': ['-r -s ' + world]}.items(),
+    )
+
+    start_gazebo_client_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare('ros_gz_sim'),
+                'launch',
+                'gz_sim.launch.py'
+            ])
+        ),
+        launch_arguments={'gz_args': ['-g ' + world]}.items(),
+        condition=IfCondition(PythonExpression(['not ', headless])),
+    )
+
+    urdf = os.path.join(python_commander_dir, 'gz_tb3_waffle.urdf')
+
+    doc = xacro.parse(open(urdf))
+    xacro.process_doc(doc)
+
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{
+            'use_sim_time': True,
+            'robot_description': doc.toxml()
+        }],
+        remappings=remappings
+    )
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False',
+                          'use_sim_time': 'true'}.items())
+
+    os.environ['IGN_GAZEBO_RESOURCE_PATH'] = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'), 'models')
+    os.environ['IGN_GAZEBO_RESOURCE_PATH'] += ':' + os.path.join(
+        get_package_share_directory('aws_robomaker_small_warehouse_world'), 'models')
+    os.environ['IGN_GAZEBO_RESOURCE_PATH'] += ':' + os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'), '..')
+
+    # Clock bridge
+    clock_bridge = Node(
+        package='ros_gz_bridge', executable='parameter_bridge',
+        name='clock_bridge',
+        output='screen',
+        parameters=[{
+            'use_sim_time': True
+        }],
+        arguments=[
+            '/clock' + '@rosgraph_msgs/msg/Clock' + '[ignition.msgs.Clock']
+    )
+
+    # lidar bridge
+    lidar_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        name='lidar_bridge',
+        output='screen',
+        parameters=[{
+            'use_sim_time': True
+        }],
+        arguments=[
+            ['/scan' + '@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan']
+        ]
+    )
+
+    imu_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        name='imu_bridge',
+        output='screen',
+        parameters=[{
+            'use_sim_time': True
+        }],
+        arguments=[['/imu' + '@sensor_msgs/msg/Imu[ignition.msgs.IMU']],
+    )
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    start_gazebo_spawner_cmd = Node(
+        package='ros_gz_sim',
+        executable='create',
+        output='screen',
+        arguments=[
+            '-entity', 'turtlebot3_waffle',
+            '-string', doc.toxml(),
+            '-x', '3.45', '-y', '2.15', '-z', '0.1',
+            '-R', '0', '-P', '0', '-Y', '3.14'
+        ]
+    )
+
+    load_joint_state_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'joint_state_broadcaster'],
+        output='screen'
+    )
+    load_diffdrive_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'diffdrive_controller'],
+        output='screen'
+    )
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='example_assisted_teleop',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_gazebo_spawner_cmd)
+    ld.add_action(clock_bridge)
+    ld.add_action(lidar_bridge)
+    ld.add_action(imu_bridge)
+    ld.add_action(load_joint_state_controller)
+    ld.add_action(load_diffdrive_controller)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld