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Use opaque function to allow for remapping of scan topics #293

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merged 2 commits into from
Nov 1, 2023
Merged

Use opaque function to allow for remapping of scan topics #293

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Use opaque function to allow for remapping of scan topics
hilary-luo Oct 31, 2023
88f9a80
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hilary-luo Oct 31, 2023
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64 changes: 40 additions & 24 deletions turtlebot4_navigation/launch/nav2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,52 +18,68 @@
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
from launch.actions import (
DeclareLaunchArgument,
GroupAction,
IncludeLaunchDescription,
OpaqueFunction
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import PushRosNamespace
from launch_ros.actions import PushRosNamespace, SetRemap


ARGUMENTS = [
DeclareLaunchArgument('use_sim_time', default_value='false',
choices=['true', 'false'],
description='Use sim time'),
DeclareLaunchArgument('params_file',
default_value=PathJoinSubstitution([
get_package_share_directory('turtlebot4_navigation'),
'config',
'nav2.yaml'
]),
description='Nav2 parameters'),
DeclareLaunchArgument('namespace', default_value='',
description='Robot namespace')
]


def generate_launch_description():
pkg_turtlebot4_navigation = get_package_share_directory('turtlebot4_navigation')
def launch_setup(context, *args, **kwargs):
pkg_nav2_bringup = get_package_share_directory('nav2_bringup')

nav2_params_arg = DeclareLaunchArgument(
'params_file',
default_value=PathJoinSubstitution(
[pkg_turtlebot4_navigation, 'config', 'nav2.yaml']),
description='Nav2 parameters')

namespace_arg = DeclareLaunchArgument(
'namespace',
default_value='',
description='Robot namespace')

nav2_params = LaunchConfiguration('params_file')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')

namespace_str = namespace.perform(context)
if (namespace_str and not namespace_str.startswith('/')):
namespace_str = '/' + namespace_str

launch_nav2 = PathJoinSubstitution(
[pkg_nav2_bringup, 'launch', 'navigation_launch.py'])

nav2 = GroupAction([
PushRosNamespace(namespace),
SetRemap(namespace_str + '/global_costmap/scan', namespace_str + '/scan'),
SetRemap(namespace_str + '/local_costmap/scan', namespace_str + '/scan'),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[pkg_nav2_bringup, 'launch', 'navigation_launch.py'])),
launch_arguments={'use_sim_time': use_sim_time,
'use_composition': 'False',
'params_file': LaunchConfiguration('params_file')}.items()),
PythonLaunchDescriptionSource(launch_nav2),
launch_arguments=[
('use_sim_time', use_sim_time),
('params_file', nav2_params.perform(context)),
('use_composition', 'False'),
('namespace', namespace_str)
]
),
])

return [nav2]


def generate_launch_description():
ld = LaunchDescription(ARGUMENTS)
ld.add_action(nav2_params_arg)
ld.add_action(namespace_arg)
ld.add_action(nav2)
ld.add_action(OpaqueFunction(function=launch_setup))
return ld
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