Use SetParameter Launch API to set the yaml filename for map_server (r…

…os-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <[email protected]> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <[email protected]>
jwallace42 · Nov 30, 2022 · ee7e505 · ee7e505
1 parent 6d66c9d
commit ee7e505
Show file tree

Hide file tree

Showing 3 changed files with 57 additions and 17 deletions.
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
@@ -53,14 +53,10 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'yaml_filename': map_yaml_file}
-
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key=namespace,
-        param_rewrites=param_substitutions,
+        param_rewrites={},
         convert_types=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
@@ -83,6 +79,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
+        default_value='',
         description='Full path to map yaml file to load')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(

diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py
@@ -17,8 +17,11 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.actions import SetEnvironmentVariable
 from launch.conditions import IfCondition
+from launch.conditions import LaunchConfigurationEquals
+from launch.conditions import LaunchConfigurationNotEquals
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import LoadComposableNodes, SetParameter
 from launch_ros.actions import Node
@@ -51,14 +54,10 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'yaml_filename': map_yaml_file}
-
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key=namespace,
-        param_rewrites=param_substitutions,
+        param_rewrites={},
         convert_types=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
@@ -71,6 +70,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
+        default_value='',
         description='Full path to map yaml file to load')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
@@ -108,6 +108,7 @@ def generate_launch_description():
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             Node(
+                condition=LaunchConfigurationEquals('map', ''),
                 package='nav2_map_server',
                 executable='map_server',
                 name='map_server',
@@ -117,6 +118,18 @@ def generate_launch_description():
                 parameters=[configured_params],
                 arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
+            Node(
+                condition=LaunchConfigurationNotEquals('map', ''),
+                package='nav2_map_server',
+                executable='map_server',
+                name='map_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params,
+                            {'yaml_filename': map_yaml_file}],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
             Node(
                 package='nav2_amcl',
                 executable='amcl',
@@ -137,20 +150,49 @@ def generate_launch_description():
                             {'node_names': lifecycle_nodes}])
         ]
     )
-
+    # LoadComposableNode for map server twice depending if we should use the
+    # value of map from a CLI or launch default or user defined value in the
+    # yaml configuration file. They are separated since the conditions
+    # currently only work on the LoadComposableNodes commands and not on the
+    # ComposableNode node function itself
+    # EqualsSubstitution and NotEqualsSubstitution susbsitutions was recently
+    # added to solve this problem but it has not been ported yet to
+    # ros-rolling. See https://github.com/ros2/launch_ros/issues/328.
+    # LaunchConfigurationEquals and LaunchConfigurationNotEquals are scheduled
+    # for deprecation once a Rolling sync is conducted. Switching to this new
+    # would be required for both ComposableNode and normal nodes.
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             LoadComposableNodes(
                 target_container=container_name,
+                condition=LaunchConfigurationEquals('map', ''),
                 composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_map_server',
                         plugin='nav2_map_server::MapServer',
                         name='map_server',
                         parameters=[configured_params],
                         remappings=remappings),
+                ],
+            ),
+            LoadComposableNodes(
+                target_container=container_name,
+                condition=LaunchConfigurationNotEquals('map', ''),
+                composable_node_descriptions=[
+                    ComposableNode(
+                        package='nav2_map_server',
+                        plugin='nav2_map_server::MapServer',
+                        name='map_server',
+                        parameters=[configured_params,
+                                    {'yaml_filename': map_yaml_file}],
+                        remappings=remappings),
+                ],
+            ),
+            LoadComposableNodes(
+                target_container=container_name,
+                composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_amcl',
                         plugin='nav2_amcl::AmclNode',

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -243,11 +243,12 @@ global_costmap:
         inflation_radius: 0.55
       always_send_full_costmap: True
 
-map_server:
-  ros__parameters:
-    # Overridden in launch by the "map" launch configuration or provided default value.
-    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
-    yaml_filename: ""
+# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
+# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
+# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
+# map_server:
+#   ros__parameters:
+#     yaml_filename: ""
 
 map_saver:
   ros__parameters: