diff --git a/nav2_bringup/bringup/launch/localization_launch.py b/nav2_bringup/bringup/launch/localization_launch.py index b5b825d4dfe..2791e0068cd 100644 --- a/nav2_bringup/bringup/launch/localization_launch.py +++ b/nav2_bringup/bringup/launch/localization_launch.py @@ -82,24 +82,24 @@ def generate_launch_description(): Node( package='nav2_map_server', - node_executable='map_server', - node_name='map_server', + executable='map_server', + name='map_server', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_amcl', - node_executable='amcl', - node_name='amcl', + executable='amcl', + name='amcl', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_lifecycle_manager', - node_executable='lifecycle_manager', - node_name='lifecycle_manager_localization', + executable='lifecycle_manager', + name='lifecycle_manager_localization', output='screen', parameters=[{'use_sim_time': use_sim_time}, {'autostart': autostart}, diff --git a/nav2_bringup/bringup/launch/navigation_launch.py b/nav2_bringup/bringup/launch/navigation_launch.py index 59e3e331e99..ba43546a674 100644 --- a/nav2_bringup/bringup/launch/navigation_launch.py +++ b/nav2_bringup/bringup/launch/navigation_launch.py @@ -96,47 +96,47 @@ def generate_launch_description(): Node( package='nav2_controller', - node_executable='controller_server', + executable='controller_server', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_planner', - node_executable='planner_server', - node_name='planner_server', + executable='planner_server', + name='planner_server', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_recoveries', - node_executable='recoveries_server', - node_name='recoveries_server', + executable='recoveries_server', + name='recoveries_server', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_bt_navigator', - node_executable='bt_navigator', - node_name='bt_navigator', + executable='bt_navigator', + name='bt_navigator', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_waypoint_follower', - node_executable='waypoint_follower', - node_name='waypoint_follower', + executable='waypoint_follower', + name='waypoint_follower', output='screen', parameters=[configured_params], remappings=remappings), Node( package='nav2_lifecycle_manager', - node_executable='lifecycle_manager', - node_name='lifecycle_manager_navigation', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', output='screen', parameters=[{'use_sim_time': use_sim_time}, {'autostart': autostart}, diff --git a/nav2_bringup/bringup/launch/rviz_launch.py b/nav2_bringup/bringup/launch/rviz_launch.py index 67ab0c3ff2d..3126b113485 100644 --- a/nav2_bringup/bringup/launch/rviz_launch.py +++ b/nav2_bringup/bringup/launch/rviz_launch.py @@ -56,8 +56,8 @@ def generate_launch_description(): start_rviz_cmd = Node( condition=UnlessCondition(use_namespace), package='rviz2', - node_executable='rviz2', - node_name='rviz2', + executable='rviz2', + name='rviz2', arguments=['-d', rviz_config_file], output='screen') @@ -68,9 +68,9 @@ def generate_launch_description(): start_namespaced_rviz_cmd = Node( condition=IfCondition(use_namespace), package='rviz2', - node_executable='rviz2', - node_name='rviz2', - node_namespace=namespace, + executable='rviz2', + name='rviz2', + namespace=namespace, arguments=['-d', namespaced_rviz_config_file], output='screen', remappings=[('/tf', 'tf'), diff --git a/nav2_bringup/bringup/launch/spawn_tb3_launch.py b/nav2_bringup/bringup/launch/spawn_tb3_launch.py index 08cab9c788b..af0d100372c 100644 --- a/nav2_bringup/bringup/launch/spawn_tb3_launch.py +++ b/nav2_bringup/bringup/launch/spawn_tb3_launch.py @@ -24,7 +24,7 @@ def generate_launch_description(): # TODO(orduno) might not be necessary to have it's own package launch_ros.actions.Node( package='nav2_gazebo_spawner', - node_executable='nav2_gazebo_spawner', + executable='nav2_gazebo_spawner', output='screen', arguments=[ '--robot_name', launch.substitutions.LaunchConfiguration('robot_name'), diff --git a/nav2_bringup/bringup/launch/tb3_simulation_launch.py b/nav2_bringup/bringup/launch/tb3_simulation_launch.py index 990b87630c6..3e54a379904 100644 --- a/nav2_bringup/bringup/launch/tb3_simulation_launch.py +++ b/nav2_bringup/bringup/launch/tb3_simulation_launch.py @@ -144,9 +144,9 @@ def generate_launch_description(): start_robot_state_publisher_cmd = Node( condition=IfCondition(use_robot_state_pub), package='robot_state_publisher', - node_executable='robot_state_publisher', - node_name='robot_state_publisher', - node_namespace=namespace, + executable='robot_state_publisher', + name='robot_state_publisher', + namespace=namespace, output='screen', parameters=[{'use_sim_time': use_sim_time}], remappings=remappings, diff --git a/nav2_costmap_2d/test/integration/costmap_tests_launch.py b/nav2_costmap_2d/test/integration/costmap_tests_launch.py index 95c8f006425..5e8c19a485d 100755 --- a/nav2_costmap_2d/test/integration/costmap_tests_launch.py +++ b/nav2_costmap_2d/test/integration/costmap_tests_launch.py @@ -32,8 +32,8 @@ def main(argv=sys.argv[1:]): lifecycle_manager = launch_ros.actions.Node( package='nav2_lifecycle_manager', - node_executable='lifecycle_manager', - node_name='lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager', output='screen', parameters=[{'node_names': ['map_server']}, {'autostart': True}]) diff --git a/nav2_costmap_2d/test/test_launch_files/costmap_map_server.launch.py b/nav2_costmap_2d/test/test_launch_files/costmap_map_server.launch.py index bc392db9b0b..d4b31798f4c 100644 --- a/nav2_costmap_2d/test/test_launch_files/costmap_map_server.launch.py +++ b/nav2_costmap_2d/test/test_launch_files/costmap_map_server.launch.py @@ -25,8 +25,8 @@ def generate_launch_description(): return LaunchDescription([ launch_ros.actions.Node( package='nav2_map_server', - node_executable='map_server', - node_name='map_server', + executable='map_server', + name='map_server', output='screen', parameters=[{'yaml_filename': mapFile}]) ]) diff --git a/nav2_map_server/launch/map_saver_server.launch.py b/nav2_map_server/launch/map_saver_server.launch.py index 1590f54f428..094c171a65d 100644 --- a/nav2_map_server/launch/map_saver_server.launch.py +++ b/nav2_map_server/launch/map_saver_server.launch.py @@ -30,7 +30,7 @@ def generate_launch_description(): # Nodes launching commands start_map_saver_server_cmd = launch_ros.actions.Node( package='nav2_map_server', - node_executable='map_saver_server', + executable='map_saver_server', output='screen', emulate_tty=True, # https://github.com/ros2/launch/issues/188 parameters=[{'save_map_timeout': save_map_timeout}, @@ -39,8 +39,8 @@ def generate_launch_description(): start_lifecycle_manager_cmd = launch_ros.actions.Node( package='nav2_lifecycle_manager', - node_executable='lifecycle_manager', - node_name='lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager', output='screen', emulate_tty=True, # https://github.com/ros2/launch/issues/188 parameters=[{'use_sim_time': use_sim_time}, diff --git a/nav2_map_server/test/test_launch_files/map_saver_node.launch.py b/nav2_map_server/test/test_launch_files/map_saver_node.launch.py index b550b200f03..9c061439c77 100644 --- a/nav2_map_server/test/test_launch_files/map_saver_node.launch.py +++ b/nav2_map_server/test/test_launch_files/map_saver_node.launch.py @@ -28,7 +28,7 @@ def generate_launch_description(): map_saver_server_cmd = launch_ros.actions.Node( package='nav2_map_server', - node_executable='map_saver_server', + executable='map_saver_server', output='screen', parameters=[os.path.join(os.getenv('TEST_DIR'), 'map_saver_params.yaml')]) diff --git a/nav2_map_server/test/test_launch_files/map_server_node.launch.py b/nav2_map_server/test/test_launch_files/map_server_node.launch.py index ff9767573c8..78d5e8b6d12 100644 --- a/nav2_map_server/test/test_launch_files/map_server_node.launch.py +++ b/nav2_map_server/test/test_launch_files/map_server_node.launch.py @@ -24,7 +24,7 @@ def generate_launch_description(): return LaunchDescription([ launch_ros.actions.Node( package='nav2_map_server', - node_executable='map_server', + executable='map_server', output='screen', parameters=[os.path.join(os.getenv('TEST_DIR'), 'map_server_params.yaml')]) diff --git a/nav2_system_tests/src/localization/test_localization_launch.py b/nav2_system_tests/src/localization/test_localization_launch.py index 004b6ba68e3..70c30e0842a 100755 --- a/nav2_system_tests/src/localization/test_localization_launch.py +++ b/nav2_system_tests/src/localization/test_localization_launch.py @@ -35,28 +35,28 @@ def main(argv=sys.argv[1:]): output='screen') link_footprint = launch_ros.actions.Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']) footprint_scan = launch_ros.actions.Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']) run_map_server = launch_ros.actions.Node( package='nav2_map_server', - node_executable='map_server', - node_name='map_server', + executable='map_server', + name='map_server', output='screen', parameters=[{'yaml_filename': mapFile}]) run_amcl = launch_ros.actions.Node( package='nav2_amcl', - node_executable='amcl', + executable='amcl', output='screen') run_lifecycle_manager = launch_ros.actions.Node( package='nav2_lifecycle_manager', - node_executable='lifecycle_manager', - node_name='lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager', output='screen', parameters=[{'node_names': ['map_server', 'amcl']}, {'autostart': True}]) ld = LaunchDescription([launch_gazebo, link_footprint, footprint_scan, diff --git a/nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py b/nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py index 2b3a8bb7398..f1b7c40a782 100755 --- a/nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py +++ b/nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py @@ -59,13 +59,13 @@ def generate_launch_description(): # using a local copy of TB3 urdf file Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), diff --git a/nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py b/nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py index 8c81cc20b4e..484c16fda1d 100755 --- a/nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py +++ b/nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py @@ -59,13 +59,13 @@ def generate_launch_description(): # using a local copy of TB3 urdf file Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), diff --git a/nav2_system_tests/src/system/test_multi_robot_launch.py b/nav2_system_tests/src/system/test_multi_robot_launch.py index 6f6f9f2e5e7..87be85d613e 100755 --- a/nav2_system_tests/src/system/test_multi_robot_launch.py +++ b/nav2_system_tests/src/system/test_multi_robot_launch.py @@ -62,7 +62,7 @@ def generate_launch_description(): spawn_robots_cmds.append( Node( package='nav2_gazebo_spawner', - node_executable='nav2_gazebo_spawner', + executable='nav2_gazebo_spawner', output='screen', arguments=[ '--robot_name', TextSubstitution(text=robot['name']), @@ -79,8 +79,8 @@ def generate_launch_description(): robot_state_pubs_cmds.append( Node( package='robot_state_publisher', - node_executable='robot_state_publisher', - node_namespace=TextSubstitution(text=robot['name']), + executable='robot_state_publisher', + namespace=TextSubstitution(text=robot['name']), output='screen', parameters=[{'use_sim_time': 'True'}], remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')], diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py index 53a57028ec7..dde6618cdc7 100755 --- a/nav2_system_tests/src/system/test_system_launch.py +++ b/nav2_system_tests/src/system/test_system_launch.py @@ -61,13 +61,13 @@ def generate_launch_description(): # using a local copy of TB3 urdf file Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py index 98434123da2..aac4c6e2dee 100755 --- a/nav2_system_tests/src/updown/test_updown_launch.py +++ b/nav2_system_tests/src/updown/test_updown_launch.py @@ -34,25 +34,25 @@ def generate_launch_description(): # Specify the actions start_tf_cmd_1 = Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']) start_tf_cmd_2 = Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint']) start_tf_cmd_3 = Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']) start_tf_cmd_4 = Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']) diff --git a/nav2_system_tests/src/waypoint_follower/test_case_py.launch b/nav2_system_tests/src/waypoint_follower/test_case_py.launch index 23b5200110f..06d1298f15e 100755 --- a/nav2_system_tests/src/waypoint_follower/test_case_py.launch +++ b/nav2_system_tests/src/waypoint_follower/test_case_py.launch @@ -59,13 +59,13 @@ def generate_launch_description(): # using a local copy of TB3 urdf file Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), Node( package='tf2_ros', - node_executable='static_transform_publisher', + executable='static_transform_publisher', output='screen', arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),