Nav2极简笔记03-启动文件launch
【摘要】
回顾一下，tb3_simulation_launch.py :
"""This is all-in-one launch script intended for use by nav2 developers.""" import os from ament_index_python.packages import get_packag...
回顾一下，tb3_simulation_launch.py :
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"""This is all-in-one launch script intended for use by nav2 developers."""
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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, ExecuteProcess, IncludeLaunchDescription
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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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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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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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slam = LaunchConfiguration('slam')
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_namespace')
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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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default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
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autostart = LaunchConfiguration('autostart')
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# Launch configuration variables specific to simulation
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rviz_config_file = LaunchConfiguration('rviz_config_file')
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use_simulator = LaunchConfiguration('use_simulator')
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use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
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use_rviz = LaunchConfiguration('use_rviz')
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headless = LaunchConfiguration('headless')
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world = LaunchConfiguration('world')
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'),
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('/tf_static', 'tf_static')]
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# Declare the launch arguments
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_namespace_cmd = DeclareLaunchArgument(
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'use_namespace',
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default_value='false',
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description='Whether to apply a namespace to the navigation stack')
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declare_slam_cmd = DeclareLaunchArgument(
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'slam',
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default_value='False',
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description='Whether run a SLAM')
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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', 'turtlebot3_world.yaml'),
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description='Full path to map 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_bt_xml_cmd = DeclareLaunchArgument(
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'default_bt_xml_filename',
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default_value=os.path.join(
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get_package_share_directory('nav2_bt_navigator'),
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'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
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description='Full path to the behavior tree xml file to use')
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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_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config_file',
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default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
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description='Full path to the RVIZ config file to use')
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declare_use_simulator_cmd = DeclareLaunchArgument(
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'use_simulator',
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default_value='True',
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description='Whether to start the simulator')
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declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
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'use_robot_state_pub',
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default_value='True',
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description='Whether to start the robot state publisher')
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declare_use_rviz_cmd = DeclareLaunchArgument(
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'use_rviz',
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default_value='True',
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description='Whether to start RVIZ')
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declare_simulator_cmd = DeclareLaunchArgument(
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'headless',
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default_value='False',
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description='Whether to execute gzclient)')
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declare_world_cmd = DeclareLaunchArgument(
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'world',
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# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
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# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
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# 'worlds/turtlebot3_worlds/waffle.model'),
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default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
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description='Full path to world model file to load')
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# Specify the actions
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start_gazebo_server_cmd = ExecuteProcess(
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condition=IfCondition(use_simulator),
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cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],
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cwd=[launch_dir], output='screen')
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start_gazebo_client_cmd = ExecuteProcess(
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condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),
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cmd=['gzclient'],
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cwd=[launch_dir], output='screen')
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urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
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start_robot_state_publisher_cmd = Node(
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condition=IfCondition(use_robot_state_pub),
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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namespace=namespace,
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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remappings=remappings,
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arguments=[urdf])
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rviz_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
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condition=IfCondition(use_rviz),
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launch_arguments={'namespace': '',
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'use_namespace': 'False',
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'rviz_config': rviz_config_file}.items())
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bringup_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
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launch_arguments={'namespace': namespace,
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'use_namespace': use_namespace,
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'slam': slam,
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'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'params_file': params_file,
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'default_bt_xml_filename': default_bt_xml_filename,
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'autostart': autostart}.items())
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# Create the launch description and populate
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ld = LaunchDescription()
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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_use_namespace_cmd)
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ld.add_action(declare_slam_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_bt_xml_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_rviz_config_file_cmd)
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ld.add_action(declare_use_simulator_cmd)
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ld.add_action(declare_use_robot_state_pub_cmd)
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ld.add_action(declare_use_rviz_cmd)
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ld.add_action(declare_simulator_cmd)
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ld.add_action(declare_world_cmd)
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# Add any conditioned actions
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ld.add_action(start_gazebo_server_cmd)
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ld.add_action(start_gazebo_client_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(start_robot_state_publisher_cmd)
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ld.add_action(rviz_cmd)
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ld.add_action(bringup_cmd)
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return ld
如果需要一边导航和建图同步开展，设置参数slam:=True；
ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True
这时不用给初始位置，直接导航即可，机器人会同步绘制地图。
换一个环境（可以任意换，这里以house为例）：
修改（tb3_sim_house.py）：
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declare_world_cmd = DeclareLaunchArgument(
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'world',
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# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
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# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
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# 'worlds/turtlebot3_worlds/waffle.model'),
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default_value=os.path.join(bringup_dir, 'worlds', 'waffle_house.model'),
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description='Full path to world model file to load')
waffle_house.model
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<model name="turtlebot3_house">
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<static>1</static>
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<include>
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<uri>model://turtlebot3_house</uri>
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</include>
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</model>
编译后，使用如下命令：
- ros2 launch nav2_bringup tb3_sim_house.py slam:=True
注意，house入口处的障碍物-信箱📫，来导航算法不给力，扛起来！！！
不玩了，正常建图和导航效果如下：
比自己遥控省时省力。
重要的功能包：
- turtlebot3
- navigation2
- slam_toolbox
更多功能自己摸索一下。
roslaunch2示例
节点加载
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(
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name='node_runtime_name',
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package='ros2_package_name',
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executable='name_of_executable',
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parameters=[{'name_of_int_param': 1,
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'name_of_str_param': 'value'}],
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remappings=[('from', 'to')],
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output='screen',
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),
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# More Nodes!
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])
加载参数yaml
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node_name:
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ros__parameters:
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some_int_param: 1
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some_str_param: "the_value"
更具体一点：
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from ament_index_python.packages import get_package_share_directory
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# Assuming you have a file called package_name/config/params.yaml
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node_params = os.path.join(
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get_package_share_directory('package_name'),
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'config',
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'params.yaml'
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)
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# Add this to your LaunchDescription
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Node(
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name='node_runtime_name',
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package='ros2_package_name',
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executable='name_of_executable',
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parameters=[{'another_param': 42.0},
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node_params]
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)
包含其他launch文件
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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.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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# Assuming you have a file called package_name/launch/my_launch.launch.py
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my_launch_file = os.path.join(
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get_package_share_directory('package_name'),
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'launch',
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'my_launch.launch.py'
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)
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# Add this to your LaunchDescription
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([my_launch_file])
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),
加载URDF文件：
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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_ros.actions import Node
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# Load the URDF into a parameter
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desc_dir = get_package_share_directory('robot_description_pkg')
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urdf_path = os.path.join(desc_dir, 'robots', 'my_urdf.urdf')
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urdf = open(urdf_path).read()
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# Add this to your LaunchDescription
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Node(
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name='robot_state_publisher',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[{'robot_description': urdf}],
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)
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/119931907
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