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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,7 @@ | ||
| # ======================================= | ||
| # Namespace config | ||
| # ======================================= | ||
| # To use multimle devices on multible robot you have to specify following field | ||
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| # Uncomment to add robot namespace | ||
| # ROS_NAMESPACE=robot |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,32 +1,33 @@ | ||
| # Quick Start | ||
| # docker compose up | ||
| x-common-config: | ||
| &common-config | ||
| network_mode: host | ||
| ipc: host | ||
| env_file: .env | ||
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| services: | ||
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| rplidar: | ||
| image: husarion/rplidar:humble | ||
| restart: unless-stopped | ||
| network_mode: host | ||
| ipc: host | ||
| # image: husarion/rplidar:humble | ||
| build: | ||
| context: .. | ||
| dockerfile: Dockerfile | ||
| <<: *common-config | ||
| devices: | ||
| - /dev/ttyUSB0 | ||
| environment: | ||
| - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0} | ||
| - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp} | ||
| command: > | ||
| ros2 launch sllidar_ros2 sllidar_launch.py | ||
| serial_baudrate:=${RPLIDAR_BAUDRATE:-256000} | ||
| serial_baudrate:=${RPLIDAR_BAUDRATE:-115200} | ||
| device_namespace:=lidar | ||
| rviz: | ||
| image: husarion/rviz2:humble | ||
| restart: on-failure | ||
| network_mode: host | ||
| ipc: host | ||
| <<: *common-config | ||
| volumes: | ||
| - /tmp/.X11-unix:/tmp/.X11-unix:rw | ||
| - ./default.rviz:/root/.rviz2/default.rviz | ||
| - ./rviz.launch.py:/ros2_ws/rviz.launch.py | ||
| environment: | ||
| - DISPLAY=${DISPLAY:?err} | ||
| - LIBGL_ALWAYS_SOFTWARE=1 | ||
| - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0} | ||
| - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp} | ||
| command: > | ||
| ros2 launch rviz.launch.py | ||
| device_namespace:=lidar |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node, PushRosNamespace | ||
| from launch.actions import DeclareLaunchArgument, OpaqueFunction | ||
| from launch.substitutions import EnvironmentVariable, LaunchConfiguration | ||
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| def replace_rviz_fixed_frame(input_file, output_file, fix_frame): | ||
| with open(input_file, "r") as file: | ||
| rviz_content = file.read() | ||
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| rviz_content = rviz_content.replace("Fixed Frame: laser", f"Fixed Frame: {fix_frame}") | ||
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| with open(output_file, "w") as file: | ||
| file.write(rviz_content) | ||
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| def launch_setup(context, *args, **kwargs): | ||
| robot_namespace = LaunchConfiguration("robot_namespace").perform(context) | ||
| device_namespace = LaunchConfiguration("device_namespace").perform(context) | ||
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| default_rviz_conf = "/root/.rviz2/default.rviz" | ||
| rviz_conf = "/root/.rviz2/modified_default.rviz" | ||
| if device_namespace: | ||
| frame_id = f"{device_namespace}_link" | ||
| else: | ||
| frame_id = "laser" | ||
| replace_rviz_fixed_frame(default_rviz_conf, rviz_conf, frame_id) | ||
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| remapping = [] | ||
| if robot_namespace: | ||
| remapping.append(("/clicked_point", f"/{robot_namespace}/clicked_point")) | ||
| remapping.append(("/goal_pose", f"/{robot_namespace}/goal_pose")) | ||
| remapping.append(("/initialpose", f"/{robot_namespace}/initialpose")) | ||
| remapping.append(("/tf", f"/{robot_namespace}/tf")) | ||
| remapping.append(("/tf_static", f"/{robot_namespace}/tf_static")) | ||
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| rviz = Node( | ||
| package="rviz2", | ||
| executable="rviz2", | ||
| name="rviz2", | ||
| namespace=device_namespace, | ||
| remappings=remapping, | ||
| arguments=["-d", rviz_conf], | ||
| output="screen", | ||
| ) | ||
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| return [PushRosNamespace(robot_namespace), rviz] | ||
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| def generate_launch_description(): | ||
| return LaunchDescription( | ||
| [ | ||
| DeclareLaunchArgument( | ||
| "robot_namespace", | ||
| default_value=EnvironmentVariable("ROS_NAMESPACE", default_value=""), | ||
| description="Namespace which will appear in front of all topics (including /tf and /tf_static).", | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "device_namespace", | ||
| default_value="", | ||
| description="Sensor namespace that will appear after all topics and TF frames, used for distinguishing multiple cameras on the same robot.", | ||
| ), | ||
| OpaqueFunction(function=launch_setup), | ||
| PushRosNamespace(LaunchConfiguration("robot_namespace")), | ||
| ] | ||
| ) |
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