Changed ParseMultiRobotPose to be a launch substitution class

Signed-off-by: Tanner, Gilbert <[email protected]>

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -19,7 +19,7 @@
 import tempfile
 
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchContext, LaunchDescription
+from launch import LaunchDescription
 from launch.actions import (AppendEnvironmentVariable, DeclareLaunchArgument,
                             ExecuteProcess, GroupAction,
                             IncludeLaunchDescription, LogInfo, OpaqueFunction,
@@ -28,57 +28,21 @@
 from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, TextSubstitution
-import yaml
-
-
-def parse_robots_argument(robots_arg: str):
-    robots_dict = {}
-    if robots_arg:
-        robots_list = robots_arg.split(';')
-        for robot in robots_list:
-            key, value = robot.split('=')
-            key = key.strip()
-            value = yaml.safe_load(value.strip())
-            value.setdefault('x', 0.0)
-            value.setdefault('y', 0.0)
-            value.setdefault('z', 0.0)
-            value.setdefault('roll', 0.0)
-            value.setdefault('pitch', 0.0)
-            value.setdefault('yaw', 0.0)
-            robots_dict[key] = value
-    return robots_dict
-
-
-def launch_setup(context: LaunchContext, *args, **kwargs):
+from nav2_common.launch import ParseMultiRobotPose
+
+
+def generate_robot_actions(context, *args, **kwargs):
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
-
-    # Simulation settings. On this example all robots are launched with the same settings
-    world = LaunchConfiguration('world')
-    map_yaml_file = LaunchConfiguration('map')
+    use_rviz = LaunchConfiguration('use_rviz')
     params_file = LaunchConfiguration('params_file')
     autostart = LaunchConfiguration('autostart')
     rviz_config_file = LaunchConfiguration('rviz_config')
+    map_yaml_file = LaunchConfiguration('map')
     use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
-    use_rviz = LaunchConfiguration('use_rviz')
-    log_settings = LaunchConfiguration('log_settings', default='true')
 
-    # Start Gazebo with plugin providing the robot spawning service
-    world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
-    world_sdf_xacro = ExecuteProcess(
-        cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
-        output='screen',
-    )
-
-    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
-        on_shutdown=[
-            OpaqueFunction(function=lambda _: os.remove(world_sdf))
-        ]))
-
-    robots_string = LaunchConfiguration('robots').perform(context)
-    robots_list = parse_robots_argument(robots_string)
+    robots_substitution = ParseMultiRobotPose(LaunchConfiguration('robots'))
+    robots_list = robots_substitution.perform(context)
 
     # Define commands for launching the navigation instances
     bringup_cmd_group = []
@@ -132,109 +96,150 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
         )
 
         bringup_cmd_group.append(group)
+    bringup_cmd_group.append(
+        LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
+    return bringup_cmd_group
 
-    launch_actions = []
 
-    # Add the actions to start gazebo, robots and simulations
-    launch_actions.append(world_sdf_xacro)
-    launch_actions.append(start_gazebo_cmd)
-    launch_actions.append(remove_temp_sdf_file)
+def generate_launch_description():
+    """
+    Bring up the multi-robots with given launch arguments.
 
-    launch_actions.append(
-        LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
+    Launch arguments consist of robot name(which is namespace) and pose for initialization.
+    Keep general yaml format for pose information.
+    ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}'
+    ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
+                 robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}'
+    """
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
+
+    # Simulation settings
+    world = LaunchConfiguration('world')
+
+    # On this example all robots are launched with the same settings
+    map_yaml_file = LaunchConfiguration('map')
+    params_file = LaunchConfiguration('params_file')
+    autostart = LaunchConfiguration('autostart')
+    rviz_config_file = LaunchConfiguration('rviz_config')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    log_settings = LaunchConfiguration('log_settings', default='true')
+
+    # Declare the launch arguments
+    declare_world_cmd = DeclareLaunchArgument(
+        'world',
+        default_value=os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'),
+        description='Full path to world file to load',
+    )
+
+    declare_robots_cmd = DeclareLaunchArgument(
+        'robots',
+        default_value='robot1={x: 0.5, y: 0.5, yaw: 0}; robot2={x: -0.5, y: -0.5, yaw: 1.5707}',
+        description='Robots and their initialization poses in YAML format',
+    )
+
+    declare_map_yaml_cmd = DeclareLaunchArgument(
+        'map',
+        default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
+        description='Full path to map file to load',
+    )
 
-    launch_actions.append(
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(
+            bringup_dir, 'params', 'nav2_params.yaml'
+        ),
+        description='Full path to the ROS2 parameters file to use for all launched nodes',
+    )
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart',
+        default_value='false',
+        description='Automatically startup the stacks',
+    )
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=os.path.join(
+            bringup_dir, 'rviz', 'nav2_default_view.rviz'),
+        description='Full path to the RVIZ config file to use.',
+    )
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        'use_robot_state_pub',
+        default_value='True',
+        description='Whether to start the robot state publisher',
+    )
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz', default_value='True', description='Whether to start RVIZ'
+    )
+
+    # Start Gazebo with plugin providing the robot spawning service
+    world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
+    world_sdf_xacro = ExecuteProcess(
+        cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
+
+    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
+        on_shutdown=[
+            OpaqueFunction(function=lambda _: os.remove(world_sdf))
+        ]))
+
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
+    set_env_vars_resources2 = AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            str(Path(os.path.join(sim_dir)).parent.resolve()))
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(set_env_vars_resources2)
+
+    # Declare the launch options
+    ld.add_action(declare_world_cmd)
+    ld.add_action(declare_robots_cmd)
+    ld.add_action(declare_map_yaml_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
+
+    # Add the actions to start gazebo, robots and simulations
+    ld.add_action(world_sdf_xacro)
+    ld.add_action(start_gazebo_cmd)
+    ld.add_action(remove_temp_sdf_file)
+
+    ld.add_action(
         LogInfo(condition=IfCondition(log_settings),
                 msg=['map yaml: ', map_yaml_file])
     )
-    launch_actions.append(
+    ld.add_action(
         LogInfo(condition=IfCondition(log_settings),
                 msg=['params yaml: ', params_file])
     )
-    launch_actions.append(
+    ld.add_action(
         LogInfo(
             condition=IfCondition(log_settings),
             msg=['rviz config file: ', rviz_config_file],
         )
     )
-    launch_actions.append(
+    ld.add_action(
         LogInfo(
             condition=IfCondition(log_settings),
             msg=['using robot state pub: ', use_robot_state_pub],
         )
     )
-    launch_actions.append(
+    ld.add_action(
         LogInfo(condition=IfCondition(log_settings),
                 msg=['autostart: ', autostart])
     )
+    ld.add_action(OpaqueFunction(function=generate_robot_actions))
 
-    for cmd in bringup_cmd_group:
-        launch_actions.append(cmd)
-
-    return launch_actions
-
-
-def generate_launch_description():
-    """
-    Bring up the multi-robots with given launch arguments.
-
-    Launch arguments consist of robot name(which is namespace) and pose for initialization.
-    Keep general yaml format for pose information.
-    ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}'
-    ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
-                 robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}'
-    """
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('nav2_bringup')
-    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
-
-    return LaunchDescription([
-        DeclareLaunchArgument(
-            'world',
-            default_value=os.path.join(
-                sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'),
-            description='Full path to world file to load',
-        ),
-        DeclareLaunchArgument(
-            'robots',
-            description='Robot namespaces and poses (required)'
-        ),
-        DeclareLaunchArgument(
-            'map',
-            default_value=os.path.join(
-                bringup_dir, 'maps', 'tb3_sandbox.yaml'),
-            description='Full path to map file to load',
-        ),
-        DeclareLaunchArgument(
-            'params_file',
-            default_value=os.path.join(
-                bringup_dir, 'params', 'nav2_params.yaml'
-            ),
-            description='Full path to the ROS2 parameters file to use for all launched nodes',
-        ),
-        DeclareLaunchArgument(
-            'autostart',
-            default_value='false',
-            description='Automatically startup the stacks',
-        ),
-        DeclareLaunchArgument(
-            'rviz_config',
-            default_value=os.path.join(
-                bringup_dir, 'rviz', 'nav2_default_view.rviz'),
-            description='Full path to the RVIZ config file to use.',
-        ),
-        DeclareLaunchArgument(
-            'use_robot_state_pub',
-            default_value='True',
-            description='Whether to start the robot state publisher',
-        ),
-        DeclareLaunchArgument(
-            'use_rviz', default_value='True', description='Whether to start RVIZ'
-        ),
-        # Set the path to the simulation resources
-        AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')),
-        AppendEnvironmentVariable('GZ_SIM_RESOURCE_PATH', str(
-            Path(os.path.join(sim_dir)).parent.resolve())),
-        OpaqueFunction(function=launch_setup)
-    ])
+    return ld

nav2_common/nav2_common/launch/__init__.py

@@ -20,4 +20,5 @@
     'HasNodeParams',
     'RewrittenYaml',
     'ReplaceString',
+    'ParseMultiRobotPose',
 ]

nav2_common/nav2_common/launch/parse_multirobot_pose.py

@@ -0,0 +1,62 @@
+# Copyright (c) 2023 LG Electronics.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Dict, Text
+
+import yaml
+from launch.launch_context import LaunchContext
+import launch
+
+
+class ParseMultiRobotPose(launch.Substitution):
+    """
+    A custom substitution to parse the robots argument for multi-robot poses.
+
+    Expects input in the format:
+    robots:="robot1={x: 1.0, y: 1.0, yaw: 0.0}; robot2={x: 2.0, y: 2.0, yaw: 1.5707}"
+    """
+
+    def __init__(self, robots_argument: launch.SomeSubstitutionsType) -> None:
+        super().__init__()
+        self.__robots_argument = robots_argument
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return ''
+
+    def perform(self, context: LaunchContext) -> Dict:
+        """
+        Resolve and parse the robots argument string into a dictionary.
+        """
+        robots_str = self.__robots_argument.perform(context)
+        if not robots_str:
+            return {}
+
+        multirobots = {}
+        for robot_entry in robots_str.split(";"):
+            key_val = robot_entry.strip().split("=")
+            if len(key_val) != 2:
+                continue
+
+            robot_name, pose_str = key_val[0].strip(), key_val[1].strip()
+            robot_pose = yaml.safe_load(pose_str)
+            # Set default values if not provided
+            robot_pose.setdefault("x", 0.0)
+            robot_pose.setdefault("y", 0.0)
+            robot_pose.setdefault("z", 0.0)
+            robot_pose.setdefault("roll", 0.0)
+            robot_pose.setdefault("pitch", 0.0)
+            robot_pose.setdefault("yaw", 0.0)
+            multirobots[robot_name] = robot_pose
+        return multirobots