只是把导航节点和建图节点都展开了
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 Node
from launch_ros.actions import PushRosNamespace
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('yhs_nav2')
launch_dir = os.path.join(bringup_dir, 'launch')
workspace_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.realpath(__file__))))
map_file_dir = os.path.join(workspace_dir, 'yhs_nav2', 'map')
imu_launch_dir = os.path.join(get_package_share_directory('serial_imu'),'launch')
lidar_launch_dir = os.path.join(get_package_share_directory('lslidar_driver'),'launch')
camera_launch_dir = os.path.join(get_package_share_directory('ascamera_listener'),'launch')
pointcloud_to_laserscan_launch_dir = os.path.join(get_package_share_directory('pointcloud_to_laserscan'),'launch')
chassis_launch_dir = os.path.join(get_package_share_directory('yhs_can_control'),'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
autostart = LaunchConfiguration('autostart')
use_composition = LaunchConfiguration('use_composition')
use_respawn = LaunchConfiguration('use_respawn')
log_level = LaunchConfiguration('log_level')
use_tf = LaunchConfiguration('use_tf')
container_name = LaunchConfiguration('container_name')
declare_container_name_cmd = DeclareLaunchArgument(
'container_name', default_value='nav2_container',
description='the name of conatiner that nodes will load in if use composition')
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
lifecycle_nodes = ['map_server',
'amcl',
'controller_server',
'smoother_server',
'planner_server',
'behavior_server',
'bt_navigator',
'waypoint_follower',
'velocity_smoother']
declare_use_tf_cmd = DeclareLaunchArgument('use_tf', default_value='true', description='is use_tf?')
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
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')
#选择，设置地图
declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(map_file_dir, '416.yaml'),
description='地图名称')
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(bringup_dir, 'param', 'yhs_nav2.yaml'),
description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack')
declare_use_composition_cmd = DeclareLaunchArgument(
'use_composition', default_value='True',
description='Whether to use composed bringup')
declare_use_respawn_cmd = DeclareLaunchArgument(
'use_respawn', default_value='False',
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
declare_log_level_cmd = DeclareLaunchArgument(
'log_level', default_value='info',
description='log level')
# Specify the actions
bringup_cmd_group = GroupAction(actions=
[
PushRosNamespace(
condition=IfCondition(use_namespace),
namespace=namespace),
Node(
condition=IfCondition(use_composition),
name='nav2_container',
package='rclcpp_components',
executable='component_container_isolated',
parameters=[configured_params, {'autostart': autostart}],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings,
output='screen'),
#imu节点
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(imu_launch_dir, 'imu_spec_msg.launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'use_respawn': use_respawn}.items()),
#激光雷达节点
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(lidar_launch_dir, 'lslidar_c16_launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'use_respawn': use_respawn}.items()),
#深度相机节点
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(camera_launch_dir, 'hp60c_multiple.launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'use_respawn': use_respawn}.items()),
#底盘控制节点
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(chassis_launch_dir, 'yhs_can_control.launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'use_respawn': use_respawn,
'use_tf': use_tf}.items()),
# #定位、定图节点
# IncludeLaunchDescription(
# PythonLaunchDescriptionSource(os.path.join(launch_dir, 'localization_2d_launch.py')),
# launch_arguments={'namespace': namespace,
# 'map': map_yaml_file,
# 'use_sim_time': use_sim_time,
# 'autostart': autostart,
# 'params_file': params_file,
# 'use_composition': use_composition,
# 'use_respawn': use_respawn,
# 'container_name': 'nav2_container'}.items()),
Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
arguments=['--ros-args', '--log-level', log_level],
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
# #导航相关节点
# 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,
# 'use_composition': use_composition,
# 'use_respawn': use_respawn,
# 'container_name': 'nav2_container'}.items()),
Node(
package='nav2_controller',
executable='controller_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
Node(
package='nav2_smoother',
executable='smoother_server',
name='smoother_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_behaviors',
executable='behavior_server',
name='behavior_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_waypoint_follower',
executable='waypoint_follower',
name='waypoint_follower',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
# Node(
# package='nav2_collision_monitor',
# executable='collision_monitor',
# name='collision_monitor',
# output='screen',
# respawn=use_respawn,
# respawn_delay=2.0,
# parameters=[configured_params],
# arguments=['--ros-args', '--log-level', log_level],
# remappings=remappings),
Node(
package='nav2_velocity_smoother',
executable='velocity_smoother',
name='velocity_smoother',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings +
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
arguments=['--ros-args', '--log-level', log_level],
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
])
# 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_use_tf_cmd)
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_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_use_composition_cmd)
ld.add_action(declare_use_respawn_cmd)
ld.add_action(declare_log_level_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld
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