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Merged
merged 15 commits into from
Dec 3, 2024
Merged

Simplify namespaced bringups and multirobot sim #4715

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49563c7
WIP single robot namespacing working
luca-della-vedova Oct 7, 2024
56e691d
Remove manual namespace substitution
luca-della-vedova Oct 9, 2024
1592489
Remove all multirobot specific configs
luca-della-vedova Oct 9, 2024
55263dd
Refactor parsing function to common, add for rest of layers
luca-della-vedova Nov 20, 2024
e0b4089
Fix dwb_critics test
luca-della-vedova Nov 20, 2024
857b610
Add alternative API for costmap construction
luca-della-vedova Nov 20, 2024
ac5d861
Address review feedback
luca-della-vedova Nov 21, 2024
7ad9241
Remove remaining usage of `use_namespace` parameter
luca-della-vedova Nov 21, 2024
745af36
Always join with parent namespace
luca-della-vedova Nov 25, 2024
0c958dc
Use private parameter for parent namespace
luca-della-vedova Nov 25, 2024
137d577
Fix integration test
luca-della-vedova Nov 25, 2024
f8dda14
Revert "Use private parameter for parent namespace"
luca-della-vedova Nov 25, 2024
f97ac88
Revert "Fix integration test"
luca-della-vedova Nov 25, 2024
602b4fb
Remove global map_topic parameter
luca-della-vedova Nov 26, 2024
e4a1054
Simplify Costmap2DROS constructor
luca-della-vedova Nov 26, 2024
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22 changes: 2 additions & 20 deletions nav2_bringup/launch/bringup_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
from launch_ros.actions import Node
from launch_ros.actions import PushROSNamespace
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import ReplaceString, RewrittenYaml
from nav2_common.launch import RewrittenYaml


def generate_launch_description():
Expand All @@ -39,7 +39,6 @@ def generate_launch_description():

# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
slam = LaunchConfiguration('slam')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
Expand All @@ -58,16 +57,6 @@ def generate_launch_description():
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]

# 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,
Expand All @@ -86,12 +75,6 @@ def generate_launch_description():
'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',
)

declare_slam_cmd = DeclareLaunchArgument(
'slam', default_value='False', description='Whether run a SLAM'
)
Expand Down Expand Up @@ -142,7 +125,7 @@ def generate_launch_description():
# Specify the actions
bringup_cmd_group = GroupAction(
[
PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace),
PushROSNamespace(namespace),
Node(
condition=IfCondition(use_composition),
name='nav2_container',
Expand Down Expand Up @@ -207,7 +190,6 @@ def generate_launch_description():

# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_slam_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_use_sim_time_cmd)
Expand Down
6 changes: 2 additions & 4 deletions nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ def generate_launch_description():
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(
bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'
bringup_dir, 'params', 'nav2_params.yaml'
),
description='Full path to the ROS2 parameters file to use for all launched nodes',
)
Expand All @@ -93,7 +93,7 @@ def generate_launch_description():

declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config',
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
description='Full path to the RVIZ config file to use.',
)

Expand Down Expand Up @@ -144,7 +144,6 @@ def generate_launch_description():
condition=IfCondition(use_rviz),
launch_arguments={
'namespace': TextSubstitution(text=robot_name),
'use_namespace': 'True',
'rviz_config': rviz_config_file,
}.items(),
),
Expand All @@ -154,7 +153,6 @@ def generate_launch_description():
),
launch_arguments={
'namespace': robot_name,
'use_namespace': 'True',
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': params_file,
Expand Down
42 changes: 1 addition & 41 deletions nav2_bringup/launch/rviz_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,10 @@

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import ReplaceString


def generate_launch_description():
Expand All @@ -32,7 +30,6 @@ def generate_launch_description():

# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
rviz_config_file = LaunchConfiguration('rviz_config')
use_sim_time = LaunchConfiguration('use_sim_time')

Expand All @@ -46,12 +43,6 @@ def generate_launch_description():
),
)

declare_use_namespace_cmd = DeclareLaunchArgument(
'use_namespace',
default_value='false',
description='Whether to apply a namespace to the navigation stack',
)

declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config',
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
Expand All @@ -65,68 +56,37 @@ def generate_launch_description():

# Launch rviz
start_rviz_cmd = Node(
condition=UnlessCondition(use_namespace),
package='rviz2',
executable='rviz2',
namespace=namespace,
arguments=['-d', rviz_config_file],
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
)

namespaced_rviz_config_file = ReplaceString(
source_file=rviz_config_file,
replacements={'<robot_namespace>': ('/', namespace)},
)

start_namespaced_rviz_cmd = Node(
condition=IfCondition(use_namespace),
package='rviz2',
executable='rviz2',
namespace=namespace,
arguments=['-d', namespaced_rviz_config_file],
parameters=[{'use_sim_time': use_sim_time}],
output='screen',
remappings=[
('/map', 'map'),
('/tf', 'tf'),
('/tf_static', 'tf_static'),
('/goal_pose', 'goal_pose'),
('/clicked_point', 'clicked_point'),
('/initialpose', 'initialpose'),
],
)

exit_event_handler = RegisterEventHandler(
condition=UnlessCondition(use_namespace),
event_handler=OnProcessExit(
target_action=start_rviz_cmd,
on_exit=EmitEvent(event=Shutdown(reason='rviz exited')),
),
)

exit_event_handler_namespaced = RegisterEventHandler(
condition=IfCondition(use_namespace),
event_handler=OnProcessExit(
target_action=start_namespaced_rviz_cmd,
on_exit=EmitEvent(event=Shutdown(reason='rviz exited')),
),
)

# Create the launch description and populate
ld = LaunchDescription()

# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_rviz_config_file_cmd)
ld.add_action(declare_use_sim_time_cmd)

# Add any conditioned actions
ld.add_action(start_rviz_cmd)
ld.add_action(start_namespaced_rviz_cmd)

# Add other nodes and processes we need
ld.add_action(exit_event_handler)
ld.add_action(exit_event_handler_namespaced)

return ld
10 changes: 0 additions & 10 deletions nav2_bringup/launch/tb3_loopback_simulation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@ def generate_launch_description():

# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
map_yaml_file = LaunchConfiguration('map')
params_file = LaunchConfiguration('params_file')
autostart = LaunchConfiguration('autostart')
Expand All @@ -61,12 +60,6 @@ def generate_launch_description():
'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',
)

declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
Expand Down Expand Up @@ -134,7 +127,6 @@ def generate_launch_description():
condition=IfCondition(use_rviz),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'use_sim_time': 'True',
'rviz_config': rviz_config_file,
}.items(),
Expand All @@ -144,7 +136,6 @@ def generate_launch_description():
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': params_file,
Expand Down Expand Up @@ -203,7 +194,6 @@ def generate_launch_description():

# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_autostart_cmd)
Expand Down
10 changes: 0 additions & 10 deletions nav2_bringup/launch/tb3_simulation_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,6 @@ def generate_launch_description():
# Create the launch configuration variables
slam = LaunchConfiguration('slam')
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')
Expand Down Expand Up @@ -77,12 +76,6 @@ def generate_launch_description():
'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',
)

declare_slam_cmd = DeclareLaunchArgument(
'slam', default_value='False', description='Whether run a SLAM'
)
Expand Down Expand Up @@ -186,7 +179,6 @@ def generate_launch_description():
condition=IfCondition(use_rviz),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'use_sim_time': use_sim_time,
'rviz_config': rviz_config_file,
}.items(),
Expand All @@ -196,7 +188,6 @@ def generate_launch_description():
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'slam': slam,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
Expand Down Expand Up @@ -255,7 +246,6 @@ def generate_launch_description():

# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_slam_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_use_sim_time_cmd)
Expand Down
10 changes: 0 additions & 10 deletions nav2_bringup/launch/tb4_loopback_simulation.launch.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@ def generate_launch_description():

# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
map_yaml_file = LaunchConfiguration('map')
params_file = LaunchConfiguration('params_file')
autostart = LaunchConfiguration('autostart')
Expand All @@ -61,12 +60,6 @@ def generate_launch_description():
'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',
)

declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps', 'depot.yaml'), # Try warehouse.yaml!
Expand Down Expand Up @@ -132,7 +125,6 @@ def generate_launch_description():
condition=IfCondition(use_rviz),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'use_sim_time': 'True',
'rviz_config': rviz_config_file,
}.items(),
Expand All @@ -142,7 +134,6 @@ def generate_launch_description():
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'map': map_yaml_file,
'use_sim_time': 'True',
'params_file': params_file,
Expand Down Expand Up @@ -210,7 +201,6 @@ def generate_launch_description():

# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_autostart_cmd)
Expand Down
10 changes: 0 additions & 10 deletions nav2_bringup/launch/tb4_simulation_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,6 @@ def generate_launch_description():
# Create the launch configuration variables
slam = LaunchConfiguration('slam')
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')
Expand Down Expand Up @@ -81,12 +80,6 @@ def generate_launch_description():
'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',
)

declare_slam_cmd = DeclareLaunchArgument(
'slam', default_value='False', description='Whether run a SLAM'
)
Expand Down Expand Up @@ -187,7 +180,6 @@ def generate_launch_description():
condition=IfCondition(use_rviz),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'use_sim_time': use_sim_time,
'rviz_config': rviz_config_file,
}.items(),
Expand All @@ -197,7 +189,6 @@ def generate_launch_description():
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
launch_arguments={
'namespace': namespace,
'use_namespace': use_namespace,
'slam': slam,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
Expand Down Expand Up @@ -261,7 +252,6 @@ def generate_launch_description():

# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_slam_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_use_sim_time_cmd)
Expand Down
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