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 <addisu@openrobotics.org>

* fixing collision monitor

* add launch files

* update tests to use xacro

* rever

* Bump cache

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update underlay.repos

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

.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,