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Merge pull request #433 from husarion/ros2-add-rviz-launch
Ros2 add RViz launch
2 parents 552a4c8 + a2a9ee9 commit 1ea46a0

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-114
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‎README.md

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@@ -108,6 +108,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
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| ✅ | ✅ | `safety_bt_project_path` | Path to BehaviorTree project file, responsible for safety and shutdown management. <br/> ***string:*** [`SafetyBT.btproj`](./husarion_ugv_manager/behavior_trees/SafetyBT.btproj) |
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| ✅ | ✅ | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts.yaml`](./husarion_ugv_manager/config/shutdown_hosts.yaml) |
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| ✅ | ✅ | `use_ekf` | Enable or disable EKF. <br/> ***bool:*** `True` |
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| ❌ | ✅ | `use_rviz` | Run RViz simultaneously. <br/> ***bool:*** `True` |
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| ✅ | ✅ | `use_sim` | Whether simulation is used. <br/> ***bool:*** `False` |
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| ✅ | ✅ | `user_led_animations_path` | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''` |
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| ✅ | ✅ | `wheel_config_path` | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config) |

‎husarion_ugv_gazebo/launch/simulation.launch.py

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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import (
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EnvironmentVariable,
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description="Add namespace to all launched nodes.",
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)
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use_rviz = LaunchConfiguration("use_rviz")
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declare_use_rviz_arg = DeclareLaunchArgument(
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"use_rviz",
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default_value="True",
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description="Run RViz simultaneously.",
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choices=["True", "true", "False", "false"],
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)
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namespaced_gz_gui = ReplaceString(
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source_file=gz_gui,
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replacements={"{namespace}": namespace},
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launch_arguments={"gz_gui": namespaced_gz_gui, "gz_log_level": "1"}.items(),
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)
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rviz_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("panther_description"),
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"launch",
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"rviz.launch.py",
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]
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)
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),
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condition=IfCondition(use_rviz),
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)
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simulate_robots = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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actions = [
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declare_gz_gui,
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declare_namespace_arg,
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declare_use_rviz_arg,
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# Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)
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SetUseSimTime(True),
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gz_sim,
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rviz_launch,
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simulate_robots,
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]
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‎lynx_description/urdf/gazebo.urdf.xacro

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<parameters>${config_file}</parameters>
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<ros>
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<namespace>${namespace}</namespace>
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<remapping>drive_controller/cmd_vel_unstamped:=cmd_vel</remapping>
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<remapping>drive_controller/odom:=odometry/wheels</remapping>
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<remapping>drive_controller/transition_event:=drive_controller/_transition_event</remapping>
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<remapping>gz_ros2_control/e_stop:=hardware/e_stop</remapping>
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<remapping>gz_ros2_control/e_stop_reset:=hardware/e_stop_reset</remapping>
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<remapping>gz_ros2_control/e_stop_trigger:=hardware/e_stop_trigger</remapping>
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<remapping>imu_broadcaster/imu:=imu/data</remapping>
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<remapping>drive_controller/cmd_vel_unstamped:=cmd_vel</remapping>
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<remapping>drive_controller/odom:=odometry/wheels</remapping>
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<remapping>imu_broadcaster/transition_event:=imu_broadcaster/_transition_event</remapping>
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<remapping>joint_state_broadcaster/transition_event:=joint_state_broadcaster/_transition_event</remapping>
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</ros>
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</plugin>
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</gazebo>

‎panther_description/launch/rviz.launch.py

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#!/usr/bin/env python3
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# Copyright 2020 ros2_control Development Team
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# Copyright 2024 Husarion sp. z o.o.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import (
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EnvironmentVariable,
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LaunchConfiguration,
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PathJoinSubstitution,
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PythonExpression,
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)
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from launch_ros.actions import Node, SetParameter
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from launch_ros.substitutions import FindPackageShare
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from nav2_common.launch import ReplaceString
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def generate_launch_description():
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namespace = LaunchConfiguration("namespace")
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declare_namespace_arg = DeclareLaunchArgument(
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"namespace",
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default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
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description="Add namespace to all launched nodes.",
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)
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rviz_config = LaunchConfiguration("rviz_config")
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declare_rviz_config_arg = DeclareLaunchArgument(
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"rviz_config",
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default_value=PathJoinSubstitution(
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[FindPackageShare("panther_description"), "rviz", "husarion_ugv.rviz"]
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),
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description="RViz configuration file.",
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)
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use_sim = LaunchConfiguration("use_sim")
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declare_use_sim_arg = DeclareLaunchArgument(
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"use_sim",
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default_value="False",
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description="Whether simulation is used.",
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choices=["True", "true", "False", "false"],
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)
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ns_ext = PythonExpression(["'' if '", namespace, "' else '", namespace, "' + '/'"])
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rviz_config = ReplaceString(
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source_file=rviz_config,
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replacements={"<robot_namespace>/": ns_ext, "<robot_namespace>": namespace},
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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namespace=namespace,
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arguments=["-d", rviz_config],
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)
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actions = [
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declare_namespace_arg,
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declare_rviz_config_arg,
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declare_use_sim_arg,
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SetParameter(name="use_sim_time", value=use_sim),
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rviz_node,
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]
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return LaunchDescription(actions)

‎panther_description/package.xml

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<exec_depend>joint_state_publisher</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>nav2_common</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>ros_components_description</exec_depend>
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<exec_depend>rviz</exec_depend>
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<exec_depend>xacro</exec_depend>
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<export>

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