From 9741f5ac03a41234d9ea28fdb0aebc1ebe0e4df0 Mon Sep 17 00:00:00 2001 From: "Tanner, Gilbert" Date: Tue, 7 Jan 2025 22:25:19 +0100 Subject: [PATCH 1/2] Add note about multi-robot launch file changes Signed-off-by: Tanner, Gilbert --- migration/Jazzy.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index b36800190..80fb4d3f5 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -214,3 +214,8 @@ In `PR #4795 `_ the ``n * Automatic creation of orientations for the plan if they are missing. * Addition of ``v_angular_min_in_place`` parameter to avoid the robot getting stuck while rotating due to mechanical limitations. * ``final_rotation`` has been renamed ``prefer_final_rotation`` and the behavior has changed slightly. + +Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file +********************************************************************* + +In `PR #4811 `_ the ``cloned_multi_tb3_simulation_launch.py`` launch file was updated so that parsing the robots conforms to the ROS 2 launch file standards. This was achieved by refactoring the ``ParseMultiRobotPose`` class to be a custom launch substitution. This change allows users to pass the ``robots`` from another launch file through ``launch_arguments`` which was not possible with the old version. \ No newline at end of file From 5a8df80a629a66a0f86e236b1853da0f209e91b4 Mon Sep 17 00:00:00 2001 From: "Tanner, Gilbert" Date: Tue, 7 Jan 2025 22:45:07 +0100 Subject: [PATCH 2/2] Add IncludeLaunchDescription example Example to show how the cloned_multi_tb3_simulation_launch.py can be included from another launch file Signed-off-by: Tanner, Gilbert --- migration/Jazzy.rst | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 80fb4d3f5..095fbffbd 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -218,4 +218,15 @@ In `PR #4795 `_ the ``n Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file ********************************************************************* -In `PR #4811 `_ the ``cloned_multi_tb3_simulation_launch.py`` launch file was updated so that parsing the robots conforms to the ROS 2 launch file standards. This was achieved by refactoring the ``ParseMultiRobotPose`` class to be a custom launch substitution. This change allows users to pass the ``robots`` from another launch file through ``launch_arguments`` which was not possible with the old version. \ No newline at end of file +In `PR #4811 `_ the ``cloned_multi_tb3_simulation_launch.py`` launch file was updated so that parsing the robots conforms to the ROS 2 launch file standards. This was achieved by refactoring the ``ParseMultiRobotPose`` class to be a custom launch substitution. This change allows users to pass the ``robots`` from another launch file through ``launch_arguments`` which was not possible with the old version. + +Example for including ``cloned_multi_tb3_simulation_launch.py`` in another launch file: + +.. code-block:: python + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory('nav2_bringup'), "launch", "cloned_multi_tb3_simulation_launch.py") + ), + launch_arguments={"robots": "robot1={x: 0.5, y: 0.5, yaw: 1.5707}"}.items(), + ) \ No newline at end of file