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multi_tb3_simulation_launch.py
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multi_tb3_simulation_launch.py
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# Copyright (c) 2018 Intel Corporation
#
# 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.
"""
Example for spawning multiple robots in Gazebo.
This is an example on how to create a launch file for spawning multiple robots into Gazebo
and launch multiple instances of the navigation stack, each controlling one robot.
The robots co-exist on a shared environment and are controlled by independent nav stacks.
"""
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
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
launch_dir = os.path.join(bringup_dir, 'launch')
# Names and poses of the robots
robots = [
{'name': 'robot1', 'x_pose': 0.0, 'y_pose': 0.5, 'z_pose': 0.01,
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0},
{'name': 'robot2', 'x_pose': 0.0, 'y_pose': -0.5, 'z_pose': 0.01,
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}]
# Simulation settings
world = LaunchConfiguration('world')
simulator = LaunchConfiguration('simulator')
# On this example all robots are launched with the same settings
map_yaml_file = LaunchConfiguration('map')
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_robot1_params_file_cmd = DeclareLaunchArgument(
'robot1_params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'),
description='Full path to the ROS2 parameters file to use for robot1 launched nodes')
declare_robot2_params_file_cmd = DeclareLaunchArgument(
'robot2_params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'),
description='Full path to the ROS2 parameters file to use for robot2 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')
# Define commands for launching the navigation instances
nav_instances_cmds = []
for robot in robots:
params_file = LaunchConfiguration(f"{robot['name']}_params_file")
group = GroupAction([
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(robot['x_pose'])),
'y_pose': TextSubstitution(text=str(robot['y_pose'])),
'z_pose': TextSubstitution(text=str(robot['z_pose'])),
'roll': TextSubstitution(text=str(robot['roll'])),
'pitch': TextSubstitution(text=str(robot['pitch'])),
'yaw': TextSubstitution(text=str(robot['yaw'])),
'robot_name':TextSubstitution(text=robot['name']), }.items()),
LogInfo(
condition=IfCondition(log_settings),
msg=['Launching ', robot['name']]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' map yaml: ', map_yaml_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' params yaml: ', params_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' rviz config file: ', rviz_config_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' using robot state pub: ', use_robot_state_pub]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' autostart: ', autostart])
])
nav_instances_cmds.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_robot1_params_file_cmd)
ld.add_action(declare_robot2_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)
for simulation_instance_cmd in nav_instances_cmds:
ld.add_action(simulation_instance_cmd)
return ld