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support dynamic composed bringup #2750

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merged 5 commits into from
Jan 26, 2022
Merged

support dynamic composed bringup #2750

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155b6ca
support dynamic composed bringup
gezp Dec 20, 2021
046a3e8
update
gezp Dec 20, 2021
26493eb
update delcares in launch
gezp Jan 9, 2022
3e66f49
use component_container_isolated
gezp Jan 20, 2022
1e6e1ab
update README
gezp Jan 26, 2022
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34 changes: 0 additions & 34 deletions nav2_bringup/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,43 +4,9 @@ project(nav2_bringup)
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(navigation2 REQUIRED)
find_package(nav2_map_server REQUIRED)
find_package(nav2_amcl REQUIRED)
find_package(nav2_controller REQUIRED)
find_package(nav2_smoother REQUIRED)
find_package(nav2_planner REQUIRED)
find_package(nav2_recoveries REQUIRED)
find_package(nav2_bt_navigator REQUIRED)
find_package(nav2_waypoint_follower REQUIRED)
find_package(nav2_lifecycle_manager REQUIRED)

nav2_package()

set(executable_name composed_bringup)
add_executable(${executable_name}
src/composed_bringup.cpp
)

set(dependencies
nav2_map_server
nav2_amcl
nav2_controller
nav2_smoother
nav2_planner
nav2_recoveries
nav2_bt_navigator
nav2_waypoint_follower
nav2_lifecycle_manager
)

ament_target_dependencies(${executable_name}
${dependencies}
)

install(TARGETS ${executable_name}
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
Expand Down
26 changes: 15 additions & 11 deletions nav2_bringup/launch/bringup_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,15 @@ def generate_launch_description():
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}],
remappings=remappings,
output='screen'),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
condition=IfCondition(slam),
Expand All @@ -124,23 +133,18 @@ def generate_launch_description():
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file}.items()),

Node(
condition=IfCondition(use_composition),
package='nav2_bringup',
executable='composed_bringup',
output='screen',
parameters=[configured_params, {'autostart': autostart}],
remappings=remappings),
'params_file': params_file,
'use_composition': use_composition,
'container_name': 'nav2_container'}.items()),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
condition=IfCondition(PythonExpression(['not ', use_composition])),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file}.items()),
'params_file': params_file,
'use_composition': use_composition,
'container_name': 'nav2_container'}.items()),
])

# Create the launch description and populate
Expand Down
169 changes: 116 additions & 53 deletions nav2_bringup/launch/localization_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,12 @@
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml


Expand All @@ -32,6 +35,9 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
use_composition = LaunchConfiguration('use_composition')
container_name = LaunchConfiguration('container_name')

lifecycle_nodes = ['map_server', 'amcl']

# Map fully qualified names to relative ones so the node's namespace can be prepended.
Expand All @@ -54,54 +60,111 @@ def generate_launch_description():
param_rewrites=param_substitutions,
convert_types=True)

return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),

DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),

DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
description='Full path to map yaml file to load'),

DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),

DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),

DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),

Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),

Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),

Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}])
])
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Top-level namespace')

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(bringup_dir, 'params', 'nav2_params.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='False',
description='Use composed bringup if True')

declare_container_name_cmd = DeclareLaunchArgument(
'container_name', default_value='nav2_container',
description='the name of conatiner that nodes will load in if use composition')

load_nodes = GroupAction(
condition=IfCondition(PythonExpression(['not ', use_composition])),
actions=[
Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}])
]
)

load_composable_nodes = LoadComposableNodes(
condition=IfCondition(use_composition),
target_container=container_name,
composable_node_descriptions=[
ComposableNode(
package='nav2_map_server',
plugin='nav2_map_server::MapServer',
name='map_server',
parameters=[configured_params],
remappings=remappings),
ComposableNode(
package='nav2_amcl',
plugin='nav2_amcl::AmclNode',
name='amcl',
parameters=[configured_params],
remappings=remappings),
ComposableNode(
package='nav2_lifecycle_manager',
plugin='nav2_lifecycle_manager::LifecycleManager',
name='lifecycle_manager_localization',
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_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_container_name_cmd)

# Add the actions to launch all of the localiztion nodes
ld.add_action(load_nodes)
ld.add_action(load_composable_nodes)

return ld
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