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Use SetParameter Launch API to set the yaml filename for map_server #3174

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Merged
SteveMacenski merged 2 commits into from
Nov 7, 2022
Merged

Use SetParameter Launch API to set the yaml filename for map_server #3174

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d901182
implement launch priority for the mapserver parameter yaml_filename
stevedanomodolor Sep 6, 2022
a2a2af4
state new ros-rolling release changes and deprecation
stevedanomodolor Nov 7, 2022
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7 changes: 2 additions & 5 deletions nav2_bringup/launch/bringup_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,14 +53,10 @@ def generate_launch_description():
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]

# Create our own temporary YAML files that include substitutions
param_substitutions = {
'yaml_filename': map_yaml_file}

configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
param_rewrites={},
convert_types=True)

stdout_linebuf_envvar = SetEnvironmentVariable(
Expand All @@ -83,6 +79,7 @@ def generate_launch_description():

declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value='',
description='Full path to map yaml file to load')

declare_use_sim_time_cmd = DeclareLaunchArgument(
Expand Down
56 changes: 49 additions & 7 deletions nav2_bringup/launch/localization_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,11 @@
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.actions import SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.conditions import LaunchConfigurationEquals
from launch.conditions import LaunchConfigurationNotEquals
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, SetParameter
from launch_ros.actions import Node
Expand Down Expand Up @@ -51,14 +54,10 @@ def generate_launch_description():
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]

# Create our own temporary YAML files that include substitutions
param_substitutions = {
'yaml_filename': map_yaml_file}

configured_params = RewrittenYaml(
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stevedanomodolor marked this conversation as resolved.
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
param_rewrites={},
convert_types=True)

stdout_linebuf_envvar = SetEnvironmentVariable(
Expand All @@ -71,6 +70,7 @@ def generate_launch_description():

declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value='',
description='Full path to map yaml file to load')

declare_use_sim_time_cmd = DeclareLaunchArgument(
Expand Down Expand Up @@ -108,6 +108,7 @@ def generate_launch_description():
actions=[
SetParameter("use_sim_time", use_sim_time),
Node(
condition=LaunchConfigurationEquals('map', ''),
package='nav2_map_server',
executable='map_server',
name='map_server',
Expand All @@ -117,6 +118,18 @@ def generate_launch_description():
parameters=[configured_params],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
condition=LaunchConfigurationNotEquals('map', ''),
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params,
{'yaml_filename': map_yaml_file}],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
package='nav2_amcl',
executable='amcl',
Expand All @@ -137,20 +150,49 @@ def generate_launch_description():
{'node_names': lifecycle_nodes}])
]
)

# LoadComposableNode for map server twice depending if we should use the
# value of map from a CLI or launch default or user defined value in the
# yaml configuration file. They are separated since the conditions
# currently only work on the LoadComposableNodes commands and not on the
# ComposableNode node function itself
# EqualsSubstitution and NotEqualsSubstitution susbsitutions was recently
# added to solve this problem but it has not been ported yet to
# ros-rolling. See https://github.com/ros2/launch_ros/issues/328.
# LaunchConfigurationEquals and LaunchConfigurationNotEquals are scheduled
# for deprecation once a Rolling sync is conducted. Switching to this new
# would be required for both ComposableNode and normal nodes.
load_composable_nodes = GroupAction(
condition=IfCondition(use_composition),
actions=[
SetParameter("use_sim_time", use_sim_time),
LoadComposableNodes(
target_container=container_name,
condition=LaunchConfigurationEquals('map', ''),
composable_node_descriptions=[
ComposableNode(
package='nav2_map_server',
plugin='nav2_map_server::MapServer',
name='map_server',
parameters=[configured_params],
remappings=remappings),
],
),
LoadComposableNodes(
target_container=container_name,
condition=LaunchConfigurationNotEquals('map', ''),
composable_node_descriptions=[
ComposableNode(
package='nav2_map_server',
plugin='nav2_map_server::MapServer',
name='map_server',
parameters=[configured_params,
{'yaml_filename': map_yaml_file}],
remappings=remappings),
],
),
LoadComposableNodes(
target_container=container_name,
composable_node_descriptions=[
ComposableNode(
package='nav2_amcl',
plugin='nav2_amcl::AmclNode',
Expand Down
11 changes: 6 additions & 5 deletions nav2_bringup/params/nav2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -243,11 +243,12 @@ global_costmap:
inflation_radius: 0.55
always_send_full_costmap: True

map_server:
ros__parameters:
# Overridden in launch by the "map" launch configuration or provided default value.
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
yaml_filename: ""
# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
# ros__parameters:
# yaml_filename: ""

map_saver:
ros__parameters:
Expand Down