Reintroduce multirobot launch files with updates to TB3 with Harmonic

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v25\
+              - "<< parameters.key >>-v26\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v25\
+              - "<< parameters.key >>-v26\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v25\
+            key: "<< parameters.key >>-v26\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -0,0 +1,233 @@
+# 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.
+
+
+import os
+from pathlib import Path
+import tempfile
+
+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
+
+
+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')
+
+    # Simulation settings
+    world = LaunchConfiguration('world')
+
+    # 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')
+
+    # 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',
+    )
+
+    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',
+    )
+
+    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',
+    )
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart',
+        default_value='false',
+        description='Automatically startup the stacks',
+    )
+
+    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.',
+    )
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        'use_robot_state_pub',
+        default_value='True',
+        description='Whether to start the robot state publisher',
+    )
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz', default_value='True', description='Whether to start RVIZ'
+    )
+
+    # 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())
+
+    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
+        on_shutdown=[
+            OpaqueFunction(function=lambda _: os.remove(world_sdf))
+        ]))
+
+    robots_list = ParseMultiRobotPose('robots').value()
+
+    # 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(),
+                ),
+            ]
+        )
+
+        bringup_cmd_group.append(group)
+
+    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()))
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(set_env_vars_resources2)
+
+    # 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)
+
+    # 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)
+
+    ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
+
+    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])
+    )
+
+    for cmd in bringup_cmd_group:
+        ld.add_action(cmd)
+
+    return ld

nav2_bringup/launch/tb3_simulation_launch.py

@@ -160,7 +160,7 @@ def generate_launch_description():
 
     declare_robot_sdf_cmd = DeclareLaunchArgument(
         'robot_sdf',
-        default_value=os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf'),
+        default_value=os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro'),
         description='Full path to robot sdf file to spawn the robot in gazebo',
     )
 
@@ -241,7 +241,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')),
         launch_arguments={'namespace': namespace,
-                          'use_simulator': use_simulator,
                           'use_sim_time': use_sim_time,
                           'robot_name': robot_name,
                           'robot_sdf': robot_sdf,