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Reintroduce multirobot launch files with updates to TB3 with Harmonic (…
…ros-navigation#4457) * adding docking to multirobot launch files * Use xacro file to plumb namespace into gz topics (ros-navigation#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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