bringup_launch.py

Go to the documentation of this file.

# Copyright (c) 2018 Intel Corporation
#
# 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,
    GroupAction,
    IncludeLaunchDescription,
    SetEnvironmentVariable,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import PushRosNamespace
 
 
def generate_launch_description():
    # Get the launch directory
    sm_dance_bot_warehouse_2_dir = get_package_share_directory("sm_dance_bot_warehouse_2")
    launch_dir = os.path.join(sm_dance_bot_warehouse_2_dir, "launch")
 
    # Create the launch configuration variables
    namespace = LaunchConfiguration("namespace")
    use_namespace = LaunchConfiguration("use_namespace")
    slam = LaunchConfiguration("slam")
    map_yaml_file = LaunchConfiguration("map")
    use_sim_time = LaunchConfiguration("use_sim_time")
    params_file = LaunchConfiguration("params_file")
    default_nav_to_pose_bt_xml = LaunchConfiguration("default_nav_to_pose_bt_xml")
    autostart = LaunchConfiguration("autostart")
 
    stdout_linebuf_envvar = SetEnvironmentVariable("RCUTILS_LOGGING_BUFFERED_STREAM", "1")
 
    declare_namespace_cmd = DeclareLaunchArgument(
        "namespace", default_value="", description="Top-level namespace"
    )
 
    declare_use_namespace_cmd = DeclareLaunchArgument(
        "use_namespace",
        default_value="false",
        description="Whether to apply a namespace to the navigation stack",
    )
 
    declare_slam_cmd = DeclareLaunchArgument(
        "slam", default_value="False", description="Whether run a SLAM"
    )
 
    declare_map_yaml_cmd = DeclareLaunchArgument(
        "map", description="Full path to map yaml file to load"
    )
 
    declare_use_sim_time_cmd = DeclareLaunchArgument(
        "use_sim_time", default_value="false", description="Use simulation (Gazebo) clock if true"
    )
 
    declare_params_file_cmd = DeclareLaunchArgument(
        "params_file",
        default_value=os.path.join(
            sm_dance_bot_warehouse_2_dir, "params", "nav2z_client", "nav2_params.yaml"
        ),
        description="Full path to the ROS2 parameters file to use for all launched nodes",
    )
 
    declare_bt_xml_cmd = DeclareLaunchArgument(
        "default_nav_to_pose_bt_xml",
        default_value=os.path.join(
            sm_dance_bot_warehouse_2_dir, "params", "nav2z_client", "navigation_tree.xml"
        ),
        description="Full path to the behavior tree xml file to use",
    )
 
    declare_autostart_cmd = DeclareLaunchArgument(
        "autostart", default_value="true", description="Automatically startup the nav2 stack"
    )
 
    # Specify the actions
    bringup_cmd_group = GroupAction(
        [
            PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(launch_dir, "slam_launch.py")),
                condition=IfCondition(slam),
                launch_arguments={
                    "namespace": namespace,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                }.items(),
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(launch_dir, "localization_launch.py")),
                condition=IfCondition(PythonExpression(["not ", slam])),
                launch_arguments={
                    "namespace": namespace,
                    "map": map_yaml_file,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                    "use_lifecycle_mgr": "false",
                }.items(),
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(launch_dir, "navigation_launch.py")),
                launch_arguments={
                    "namespace": namespace,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                    "default_nav_to_pose_bt_xml": default_nav_to_pose_bt_xml,
                    "use_lifecycle_mgr": "false",
                    "map_subscribe_transient_local": "true",
                }.items(),
            ),
        ]
    )
 
    # Create the launch description and populate
    ld = LaunchDescription()
 
    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)
 
    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_namespace_cmd)
    ld.add_action(declare_slam_cmd)
    ld.add_action(declare_map_yaml_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_bt_xml_cmd)
 
    # Add the actions to launch all of the navigation nodes
    ld.add_action(bringup_cmd_group)
 
    return ld