Rewrite the scan topic costmap plugins for multi-robot(namespace) bef…

…ore launch navigation. (#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <[email protected]> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <[email protected]> --------- Co-authored-by: Steve Macenski <[email protected]>
ros-navigation · Sep 25, 2023 · a5cef0b · a5cef0b
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diff --git a/nav2_bringup/README.md b/nav2_bringup/README.md
@@ -1,17 +1,44 @@
 # nav2_bringup
 
-The `nav2_bringup` package is an example bringup system for Nav2 applications. 
+The `nav2_bringup` package is an example bringup system for Nav2 applications.
 
-This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified. 
+This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
 
 Usual robot stacks will have a `<robot_name>_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of.
 
 Dynamically composed bringup (based on  [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`.
 
 * Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
 
-To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more. 
+To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
 
 Note:
 * gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
 * spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument <remapping>/tf:=tf</remapping>  <remapping>/tf_static:=tf_static</remapping> under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot.
+
+## Launch
+
+### Multi-robot Simulation
+
+This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
+
+#### Cloned
+
+This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default.
+The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`.
+
+Please refer to below examples.
+
+```shell
+ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
+```
+
+#### Unique
+
+There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
+
+If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script.
+
+```shell
+ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
+```
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
@@ -25,7 +25,7 @@
 from launch_ros.actions import Node
 from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ParameterFile
-from nav2_common.launch import RewrittenYaml
+from nav2_common.launch import RewrittenYaml, ReplaceString
 
 
 def generate_launch_description():
@@ -59,6 +59,15 @@ def generate_launch_description():
         'use_sim_time': use_sim_time,
         'yaml_filename': map_yaml_file}
 
+    # Only it applys when `use_namespace` is True.
+    # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
+    # in config file 'nav2_multirobot_params.yaml' as a default & example.
+    # User defined config file should contain '<robot_namespace>' keyword for the replacements.
+    params_file = ReplaceString(
+        source_file=params_file,
+        replacements={'<robot_namespace>': ('/', namespace)},
+        condition=IfCondition(use_namespace))
+
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,

diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -0,0 +1,174 @@
+# Copyright (c) 2023 LG Electronics.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction,
+                            IncludeLaunchDescription, LogInfo)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from nav2_common.launch import ParseMultiRobotPose
+
+
+def generate_launch_description():
+    """
+    Bring up the multi-robots with given launch arguments.
+
+    Launch arguments consist of robot name(which is namespace) and pose for initialization.
+    Keep general yaml format for pose information.
+    ex) robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
+    ex) robots:="robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
+                 robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"
+    """
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    launch_dir = os.path.join(bringup_dir, 'launch')
+
+    # Simulation settings
+    world = LaunchConfiguration('world')
+    simulator = LaunchConfiguration('simulator')
+
+    # On this example all robots are launched with the same settings
+    map_yaml_file = LaunchConfiguration('map')
+    params_file = LaunchConfiguration('params_file')
+    autostart = LaunchConfiguration('autostart')
+    rviz_config_file = LaunchConfiguration('rviz_config')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    use_rviz = LaunchConfiguration('use_rviz')
+    log_settings = LaunchConfiguration('log_settings', default='true')
+
+    # Declare the launch arguments
+    declare_world_cmd = DeclareLaunchArgument(
+        'world',
+        default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
+        description='Full path to world file to load')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'simulator',
+        default_value='gazebo',
+        description='The simulator to use (gazebo or gzserver)')
+
+    declare_map_yaml_cmd = DeclareLaunchArgument(
+        'map',
+        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+        description='Full path to map file to load')
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart', default_value='false',
+        description='Automatically startup the stacks')
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
+        description='Full path to the RVIZ config file to use.')
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        'use_robot_state_pub',
+        default_value='True',
+        description='Whether to start the robot state publisher')
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='True',
+        description='Whether to start RVIZ')
+
+    # Start Gazebo with plugin providing the robot spawning service
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
+                                     '-s', 'libgazebo_ros_factory.so', world],
+        output='screen')
+
+    robots_list = ParseMultiRobotPose('robots').value()
+
+    # Define commands for launching the navigation instances
+    bringup_cmd_group = []
+    for robot_name in robots_list:
+        init_pose = robots_list[robot_name]
+        group = GroupAction([
+            LogInfo(msg=['Launching namespace=', robot_name, ' init_pose=', str(init_pose)]),
+
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_dir, 'rviz_launch.py')),
+                condition=IfCondition(use_rviz),
+                launch_arguments={'namespace': TextSubstitution(text=robot_name),
+                                  'use_namespace': 'True',
+                                  'rviz_config': rviz_config_file}.items()),
+
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(os.path.join(bringup_dir,
+                                                           'launch',
+                                                           'tb3_simulation_launch.py')),
+                launch_arguments={'namespace': robot_name,
+                                  'use_namespace': 'True',
+                                  'map': map_yaml_file,
+                                  'use_sim_time': 'True',
+                                  'params_file': params_file,
+                                  'autostart': autostart,
+                                  'use_rviz': 'False',
+                                  'use_simulator': 'False',
+                                  'headless': 'False',
+                                  'use_robot_state_pub': use_robot_state_pub,
+                                  'x_pose': TextSubstitution(text=str(init_pose['x'])),
+                                  'y_pose': TextSubstitution(text=str(init_pose['y'])),
+                                  'z_pose': TextSubstitution(text=str(init_pose['z'])),
+                                  'roll': TextSubstitution(text=str(init_pose['roll'])),
+                                  'pitch': TextSubstitution(text=str(init_pose['pitch'])),
+                                  'yaw': TextSubstitution(text=str(init_pose['yaw'])),
+                                  'robot_name':TextSubstitution(text=robot_name), }.items())
+        ])
+
+        bringup_cmd_group.append(group)
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+    ld.add_action(declare_map_yaml_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
+
+    # Add the actions to start gazebo, robots and simulations
+    ld.add_action(start_gazebo_cmd)
+
+    ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
+
+    ld.add_action(LogInfo(condition=IfCondition(log_settings),
+                          msg=['map yaml: ', map_yaml_file]))
+    ld.add_action(LogInfo(condition=IfCondition(log_settings),
+                          msg=['params yaml: ', params_file]))
+    ld.add_action(LogInfo(condition=IfCondition(log_settings),
+                          msg=['rviz config file: ', rviz_config_file]))
+    ld.add_action(LogInfo(condition=IfCondition(log_settings),
+                          msg=['using robot state pub: ', use_robot_state_pub]))
+    ld.add_action(LogInfo(condition=IfCondition(log_settings),
+                          msg=['autostart: ', autostart]))
+
+    for cmd in bringup_cmd_group:
+        ld.add_action(cmd)
+
+    return ld
diff --git a/...gup/launch/multi_tb3_simulation_launch.py → ...nch/unique_multi_tb3_simulation_launch.py b/...gup/launch/multi_tb3_simulation_launch.py → ...nch/unique_multi_tb3_simulation_launch.py