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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,75 +1,72 @@ | ||
| import os | ||
| import xacro | ||
| # import xacro | ||
| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch_ros.actions import Node | ||
| from launch.actions import (IncludeLaunchDescription, DeclareLaunchArgument, EmitEvent, ExecuteProcess, | ||
| LogInfo, RegisterEventHandler, TimerAction) | ||
| from launch.conditions import IfCondition | ||
| from launch.event_handlers import (OnExecutionComplete, OnProcessExit, | ||
| OnProcessIO, OnProcessStart, OnShutdown) | ||
| from launch.events import Shutdown | ||
| from launch.substitutions import (EnvironmentVariable, FindExecutable, | ||
| LaunchConfiguration, LocalSubstitution, | ||
| PythonExpression) | ||
| # from launch_ros.actions import Node | ||
| from launch.actions import IncludeLaunchDescription | ||
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| def generate_launch_description(): | ||
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| pkg_urc_navigation = get_package_share_directory('urc_navigation') | ||
| pkg_hw_description = get_package_share_directory('urc_hw_description') | ||
| nav2_bringup = os.path.join(get_package_share_directory('nav2_bringup')) | ||
| slam_toolbox = os.path.join(get_package_share_directory('slam_toolbox')) | ||
| # pkg_hw_description = get_package_share_directory('urc_hw_description') | ||
| # nav2_bringup = os.path.join(get_package_share_directory('nav2_bringup')) | ||
| # slam_toolbox = os.path.join(get_package_share_directory('slam_toolbox')) | ||
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| # Process the URDF xacro file | ||
| xacro_file = os.path.join(pkg_hw_description,'urdf/simplified_model/','simplified_model.xacro') | ||
| urdf = xacro.process_file(xacro_file) | ||
| # xacro_file = os.path.join(pkg_hw_description, | ||
| # 'urdf/simplified_model/', | ||
| # 'simplified_model.xacro' | ||
| # ) | ||
| # urdf = xacro.process_file(xacro_file) | ||
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| launch_localization = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(pkg_urc_navigation, "launch", "localization.launch.py") | ||
| os.path.join(pkg_urc_navigation, | ||
| "launch", "localization.launch.py") | ||
| ) | ||
| ) | ||
|
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||
| # Load SLAM parameters from yaml file and add node to launch description | ||
| # slam_params_file = os.path.join(pkg_pathfinder,'params', 'mapper_params_online_async.yaml') | ||
| # slam_params_file = os.path.join(pkg_pathfinder,'params', | ||
| # 'mapper_params_online_async.yaml') | ||
| # slam = IncludeLaunchDescription( | ||
| # PythonLaunchDescriptionSource([os.path.join(slam_toolbox,'launch','online_async_launch.py')]), | ||
| # launch_arguments={'slam_params_file': slam_params_file}.items() | ||
| # PythonLaunchDescriptionSource([os.path.join(slam_toolbox,'launch', | ||
| # 'online_async_launch.py')]), | ||
| # launch_arguments={'slam_params_file': slam_params_file | ||
| # }.items() | ||
| # ) | ||
|
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||
| # Load nav2 parameters from yaml file and add nav2 bringup to launch description | ||
| nav2_params_file = os.path.join(pkg_urc_navigation, 'config/', 'nav2_params.yaml') | ||
| nav2 = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| [os.path.join(nav2_bringup,'launch','navigation_launch.py')] | ||
| ), | ||
| launch_arguments={'params_file': nav2_params_file}.items() | ||
| ) | ||
| # Load nav2 params from yaml file, add nav2 bringup to launch description | ||
| # nav2_params_file = os.path.join(pkg_urc_navigation, | ||
| # 'config/', 'nav2_params.yaml') | ||
| # nav2 = IncludeLaunchDescription( | ||
| # PythonLaunchDescriptionSource( | ||
| # [os.path.join(nav2_bringup,'launch','navigation_launch.py')] | ||
| # ), | ||
| # launch_arguments={'params_file': nav2_params_file}.items() | ||
| # ) | ||
|
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||
| # Delay the launch of nav2 by 5 seconds to give the SLAM node time to initialize and publish the map | ||
| delayed_nav2_launch = TimerAction( | ||
| period=8.0, | ||
| actions=[nav2]) | ||
| # Delay launch of nav2 to give the SLAM node time to initialize/publish map | ||
| # delayed_nav2_launch = TimerAction( | ||
| # period=8.0, | ||
| # actions=[nav2]) | ||
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| # Load explore_lite parameters from yaml file and add node to launch description | ||
| # explore_params_file = os.path.join(pkg_pathfinder, 'params', 'explore_params.yaml') | ||
| # Load explore_lite parameters from yaml file, add node to launch desc | ||
| # explore_params_file = os.path.join(pkg_pathfinder, | ||
| # 'params', 'explore_params.yaml') | ||
| # frontier_explore_node = Node( | ||
| # package='explore_lite', | ||
| # executable='explore', | ||
| # output='screen', | ||
| # parameters=[explore_params_file] | ||
| # ) | ||
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| # Launch everything! | ||
| return LaunchDescription([ | ||
| # slam, | ||
| # delayed_nav2_launch, | ||
| launch_localization | ||
| # delayed_rviz2_launch, | ||
| # frontier_explore_node # Uncomment this line to enable the explore_lite node to start mapping the environment | ||
| # frontier_explore_node | ||
| ]) |