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byeongkyubyeongkyu
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Merge pull request #4 from byeongkyu/humble-devel
Add package navigation2 for former robot
2 parents 6cba61f + e911b2e commit 9708879

16 files changed

+1788
-7
lines changed

‎former_description/urdf/former.urdf.xacro

+3-3
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@@ -54,12 +54,12 @@
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</inertial>
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</link>
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<joint name="${prefix}_wheel_suspension_joint" type="prismatic">
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<joint name="${prefix}_wheel_suspension_joint" type="fixed">
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<parent link="${parent}" />
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<child link="${prefix}_wheel_suspension" />
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<axis xyz="0 0 1"/>
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<!-- <axis xyz="0 0 1"/> -->
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<origin xyz="0 ${dir*0.0741} 0" rpy="0 0 0"/>
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<limit effort="10" velocity="0.1" lower="-0.01" upper="0.01"/>
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<!-- <limit effort="10" velocity="0.1" lower="-0.01" upper="0.01"/> -->
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</joint>
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<link name="${prefix}_wheel_mount">

‎former_gazebo/launch/bringup.launch.py

+1-1
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@@ -32,7 +32,7 @@ def generate_launch_description():
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]),
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launch_arguments={
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"verbose": "true",
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"physics": "dart",
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"physics": "ode",
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"world": PathJoinSubstitution([
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get_package_share_directory('former_gazebo'),
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'worlds',

‎former_nav2/CMakeLists.txt ‎former_navigation2/CMakeLists.txt

+2-1
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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(former_nav2)
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project(former_navigation2)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
@@ -14,6 +14,7 @@ install(
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config
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launch
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maps
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params
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rviz
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DESTINATION share/${PROJECT_NAME}
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)

‎former_nav2/README.md ‎former_navigation2/README.md

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‎former_nav2/config/mapper_params.yaml ‎former_navigation2/config/mapper_params.yaml

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‎former_navigation2/launch/bringup_launch.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,139 @@
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# Copyright (c) 2018 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, GroupAction,
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IncludeLaunchDescription, SetEnvironmentVariable)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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from launch_ros.actions import PushRosNamespace
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('former_navigation2')
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launch_dir = os.path.join(bringup_dir, 'launch')
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# Create the launch configuration variables
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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params_file = LaunchConfiguration('params_file')
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autostart = LaunchConfiguration('autostart')
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use_composition = LaunchConfiguration('use_composition')
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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remappings = [ ('/tf', 'tf'),
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('/tf_static', 'tf_static'),
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]
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'yaml_filename': map_yaml_file}
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configured_params = RewrittenYaml(
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source_file=params_file,
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param_rewrites=param_substitutions,
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convert_types=True)
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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default_value=os.path.join(bringup_dir, "maps", "map_office_building.yaml"),
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description='Full path to map yaml file to load')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='True',
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description='Use simulation (Gazebo) clock if true')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='True',
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description='Automatically startup the nav2 stack')
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition', default_value='False',
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description='Whether to use composed bringup')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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# Specify the actions
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bringup_cmd_group = GroupAction([
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Node(
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condition=IfCondition(use_composition),
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name='nav2_container',
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package='rclcpp_components',
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executable='component_container_isolated',
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parameters=[configured_params, {'autostart': autostart}],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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output='screen'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'localization_launch.py')),
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launch_arguments={ 'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'use_composition': use_composition,
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'use_respawn': use_respawn,
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'container_name': 'nav2_container'}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
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launch_arguments={ 'use_sim_time': use_sim_time,
116+
'autostart': autostart,
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'params_file': params_file,
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'use_composition': use_composition,
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'use_respawn': use_respawn,
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'container_name': 'nav2_container'}.items()),
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])
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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# Declare the launch options
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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138+
ld.add_action(bringup_cmd_group)
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return ld

‎former_navigation2/launch/localization_launch.py

+189
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@@ -0,0 +1,189 @@
1+
# Copyright (c) 2018 Intel Corporation
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
15+
import os
16+
17+
from ament_index_python.packages import get_package_share_directory
18+
19+
from launch import LaunchDescription
20+
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
21+
from launch.conditions import IfCondition
22+
from launch.substitutions import LaunchConfiguration, PythonExpression
23+
from launch_ros.actions import LoadComposableNodes
24+
from launch_ros.actions import Node
25+
from launch_ros.descriptions import ComposableNode
26+
from nav2_common.launch import RewrittenYaml
27+
28+
29+
def generate_launch_description():
30+
# Get the launch directory
31+
bringup_dir = get_package_share_directory('nav2_bringup')
32+
33+
namespace = LaunchConfiguration('namespace')
34+
map_yaml_file = LaunchConfiguration('map')
35+
use_sim_time = LaunchConfiguration('use_sim_time')
36+
autostart = LaunchConfiguration('autostart')
37+
params_file = LaunchConfiguration('params_file')
38+
use_composition = LaunchConfiguration('use_composition')
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container_name = LaunchConfiguration('container_name')
40+
use_respawn = LaunchConfiguration('use_respawn')
41+
log_level = LaunchConfiguration('log_level')
42+
43+
lifecycle_nodes = ['map_server', 'amcl']
44+
45+
# Map fully qualified names to relative ones so the node's namespace can be prepended.
46+
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
47+
# https://github.com/ros/geometry2/issues/32
48+
# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
50+
# https://github.com/ros2/launch_ros/issues/56
51+
remappings = [('/tf', 'tf'),
52+
('/tf_static', 'tf_static')]
53+
54+
# Create our own temporary YAML files that include substitutions
55+
param_substitutions = {
56+
'use_sim_time': use_sim_time,
57+
'yaml_filename': map_yaml_file}
58+
59+
configured_params = RewrittenYaml(
60+
source_file=params_file,
61+
root_key=namespace,
62+
param_rewrites=param_substitutions,
63+
convert_types=True)
64+
65+
stdout_linebuf_envvar = SetEnvironmentVariable(
66+
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
67+
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declare_namespace_cmd = DeclareLaunchArgument(
69+
'namespace',
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default_value='',
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description='Top-level namespace')
72+
73+
declare_map_yaml_cmd = DeclareLaunchArgument(
74+
'map',
75+
description='Full path to map yaml file to load')
76+
77+
declare_use_sim_time_cmd = DeclareLaunchArgument(
78+
'use_sim_time',
79+
default_value='false',
80+
description='Use simulation (Gazebo) clock if true')
81+
82+
declare_params_file_cmd = DeclareLaunchArgument(
83+
'params_file',
84+
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
85+
description='Full path to the ROS2 parameters file to use for all launched nodes')
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87+
declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
90+
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition', default_value='False',
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description='Use composed bringup if True')
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declare_container_name_cmd = DeclareLaunchArgument(
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'container_name', default_value='nav2_container',
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description='the name of conatiner that nodes will load in if use composition')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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load_nodes = GroupAction(
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condition=IfCondition(PythonExpression(['not ', use_composition])),
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actions=[
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Node(
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package='nav2_map_server',
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executable='map_server',
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name='map_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_amcl',
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executable='amcl',
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name='amcl',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager_localization',
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output='screen',
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arguments=['--ros-args', '--log-level', log_level],
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parameters=[{'use_sim_time': use_sim_time},
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{'autostart': autostart},
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{'node_names': lifecycle_nodes}])
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]
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)
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load_composable_nodes = LoadComposableNodes(
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condition=IfCondition(use_composition),
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target_container=container_name,
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composable_node_descriptions=[
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ComposableNode(
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package='nav2_map_server',
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plugin='nav2_map_server::MapServer',
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name='map_server',
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parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
153+
package='nav2_amcl',
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plugin='nav2_amcl::AmclNode',
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name='amcl',
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parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
159+
package='nav2_lifecycle_manager',
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plugin='nav2_lifecycle_manager::LifecycleManager',
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name='lifecycle_manager_localization',
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parameters=[{'use_sim_time': use_sim_time,
163+
'autostart': autostart,
164+
'node_names': lifecycle_nodes}]),
165+
],
166+
)
167+
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# Create the launch description and populate
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ld = LaunchDescription()
170+
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
173+
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_container_name_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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# Add the actions to launch all of the localiztion nodes
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ld.add_action(load_nodes)
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ld.add_action(load_composable_nodes)
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return ld

‎former_nav2/launch/map_building.launch.py ‎former_navigation2/launch/map_building.launch.py

File renamed without changes.

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