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🎈 perf: Add launch param
use_robot_state_pub
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123 changes: 123 additions & 0 deletions
123
pb2025_nav_bringup/launch/rm_sentry_state_publisher_launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,123 @@ | ||
| # NOTE: This startup file is only used when the navigation module is standalone | ||
| # It is used to launch the robot state publisher and joint state publisher. | ||
| # But in a complete robot system, this part should be completed by an independent robot startup module | ||
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| import os | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, GroupAction | ||
| from launch.conditions import IfCondition | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node, PushRosNamespace | ||
| from sdformat_tools.urdf_generator import UrdfGenerator | ||
| from xmacro.xmacro4sdf import XMLMacro4sdf | ||
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| def generate_launch_description(): | ||
| # Get the launch directory | ||
| pkg_pb2025_robot_description_dir = get_package_share_directory( | ||
| "pb2025_robot_description" | ||
| ) | ||
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| namespace = LaunchConfiguration("namespace") | ||
| use_namespace = LaunchConfiguration("use_namespace") | ||
| use_sim_time = LaunchConfiguration("use_sim_time") | ||
| # xmacro_description = LaunchConfiguration("xmacro_description") | ||
| xmacro_description = os.path.join( | ||
| pkg_pb2025_robot_description_dir, | ||
| "resource", | ||
| "xmacro", | ||
| "pb2025_sentry_robot.sdf.xmacro", | ||
| ) | ||
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| # Map fully qualified names to relative ones so the node's namespace can be prepended. | ||
| # In case of the transforms (tf), currently, there doesn't seem to be a better alternative | ||
| # https://github.com/ros/geometry2/issues/32 | ||
| # https://github.com/ros/robot_state_publisher/pull/30 | ||
| # TODO(orduno) Substitute with `PushNodeRemapping` | ||
| # https://github.com/ros2/launch_ros/issues/56 | ||
| remappings = [("/tf", "tf"), ("/tf_static", "tf_static")] | ||
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| # Declare the launch arguments | ||
| declare_namespace_cmd = DeclareLaunchArgument( | ||
| "namespace", | ||
| default_value="", | ||
| description="Top-level namespace", | ||
| ) | ||
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| declare_use_namespace_cmd = DeclareLaunchArgument( | ||
| "use_namespace", | ||
| default_value="false", | ||
| description="Whether to apply a namespace to the navigation stack", | ||
| ) | ||
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| declare_use_sim_time_cmd = DeclareLaunchArgument( | ||
| "use_sim_time", | ||
| default_value="false", | ||
| description="Use simulation (Gazebo) clock if true", | ||
| ) | ||
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| # declare_xmacro_description_cmd = DeclareLaunchArgument( | ||
| # "xmacro_description", | ||
| # default_value=os.path.join( | ||
| # pkg_pb2025_robot_description_dir, | ||
| # "resource", | ||
| # "xmacro", | ||
| # "rmul24_sentry_robot.sdf.xmacro", | ||
| # ), | ||
| # description="Robot description in xmacro format", | ||
| # ) | ||
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| xmacro = XMLMacro4sdf() | ||
| xmacro.set_xml_file(xmacro_description) | ||
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| # Generate SDF from xmacro | ||
| xmacro.generate() | ||
| robot_xml = xmacro.to_string() | ||
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| # Generate URDF from SDF | ||
| urdf_generator = UrdfGenerator() | ||
| urdf_generator.parse_from_sdf_string(robot_xml) | ||
| robot_urdf_xml = urdf_generator.to_string() | ||
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| bringup_cmd_group = GroupAction( | ||
| [ | ||
| PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace), | ||
| Node( | ||
| package="joint_state_publisher", | ||
| executable="joint_state_publisher", | ||
| name="joint_state_publisher", | ||
| output="screen", | ||
| # TODO: Using serial_driver to publish `gimbal_yaw` and `gimbal_pitch` joint. | ||
| # parameters=[{"source_list": [""]}], | ||
| remappings=remappings, | ||
| ), | ||
| Node( | ||
| package="robot_state_publisher", | ||
| executable="robot_state_publisher", | ||
| name="robot_state_publisher", | ||
| remappings=remappings, | ||
| parameters=[ | ||
| { | ||
| "use_sim_time": use_sim_time, | ||
| "robot_description": robot_urdf_xml, | ||
| } | ||
| ], | ||
| ), | ||
| ] | ||
| ) | ||
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| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
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| # Declare the launch options | ||
| ld.add_action(declare_namespace_cmd) | ||
| ld.add_action(declare_use_namespace_cmd) | ||
| ld.add_action(declare_use_sim_time_cmd) | ||
| # ld.add_action(declare_xmacro_description_cmd) | ||
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| # Add the actions to launch all nodes | ||
| ld.add_action(bringup_cmd_group) | ||
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| return ld |
Submodule small_gicp_relocalization
updated
3 files
| +4 −1 | include/small_gicp_relocalization/small_gicp_relocalization.hpp | |
| +1 −0 | package.xml | |
| +24 −1 | src/small_gicp_relocalization.cpp |