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[multirobot - Part4] Multiple robot control via RVIZ - Fix merge #1178

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merged 1 commit into from
Oct 1, 2019
Merged

[multirobot - Part4] Multiple robot control via RVIZ - Fix merge #1178

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19 changes: 18 additions & 1 deletion nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@
from ament_index_python.packages import get_package_prefix
from ament_index_python.packages import get_package_share_directory

from nav2_common.launch import ReplaceString

from launch import LaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import (DeclareLaunchArgument, IncludeLaunchDescription,
Expand All @@ -47,6 +49,7 @@ def generate_launch_description():
map_yaml_file = LaunchConfiguration('map')
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
rviz_config_file = LaunchConfiguration('rviz_config')
log_settings = LaunchConfiguration('log_settings', default='true')

# Declare the launch arguments
Expand Down Expand Up @@ -77,6 +80,11 @@ def generate_launch_description():
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')

declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config',
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
description='Full path to the RVIZ config file to use')

# Start Gazebo with plugin providing the robot spawing service
start_gazebo_cmd = ExecuteProcess(
cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_factory.so', world],
Expand All @@ -99,6 +107,10 @@ def generate_launch_description():
# Define commands for launching the navigation instances
nav_instances_cmds = []
for robot in robots:
namespaced_rviz_config_file = ReplaceString(
source_file=rviz_config_file,
replacements={'<robot_namespace>': ('/' + robot['name'])})

group = GroupAction([
# TODO(orduno) Each `action.Node` within the `localization` and `navigation` launch
# files has two versions, one with the required remaps and another without.
Expand All @@ -123,6 +135,7 @@ def generate_launch_description():
'bt_xml_file': bt_xml_file,
'autostart': 'False',
'use_remappings': 'True',
'rviz_config_file': namespaced_rviz_config_file,
'use_simulator': 'False'}.items()),

LogInfo(
Expand All @@ -136,7 +149,10 @@ def generate_launch_description():
msg=[robot['name'], ' params yaml: ', params_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' behavior tree xml: ', bt_xml_file])
msg=[robot['name'], ' behavior tree xml: ', bt_xml_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot['name'], ' rviz config file: ', namespaced_rviz_config_file])
])

nav_instances_cmds.append(group)
Expand All @@ -158,6 +174,7 @@ def generate_launch_description():
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_bt_xml_cmd)
ld.add_action(declare_rviz_config_file_cmd)

# Add the actions to start gazebo, robots and simulations
ld.add_action(start_gazebo_cmd)
Expand Down
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