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Migrate multi robot launch to use updated robot string syntax. #659

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SteveMacenski merged 1 commit into from
Mar 21, 2025
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Migrate multi robot launch to use updated robot string syntax. #659

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4 changes: 2 additions & 2 deletions migration/Jazzy.rst
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Expand Up @@ -289,7 +289,7 @@ In `PR #4795 <https://github.com/ros-navigation/navigation2/pull/4795>`_ the ``n
Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
*********************************************************************

In `PR #4811 <https://github.com/ros-navigation/navigation2/pull/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.
In `PR #5000 <https://github.com/ros-navigation/navigation2/pull/5000>`_ 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 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:

Expand All @@ -299,7 +299,7 @@ Example for including ``cloned_multi_tb3_simulation_launch.py`` in another launc
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(),
launch_arguments={"robots": "{name: 'robot1', pose: {x: 0.5, y: 0.5, yaw: 1.5707}}"}.items(),
)

ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use nav_msgs/Goals instead of vector<PoseStamped>
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