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Nav2 Launch difference

作成日 4 年前差分は期限切れになりません

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60 行

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54 行

param_substitutions = {"use_sim_time": "false", "yaml_filename": "turtlebot3_world.yaml"}

param_substitutions = {"use_sim_time": use_sim_time, "autostart": autostart}

remappings = [("/tf", "tf"), ("/tf_static", "tf_static"), ("/cmd_vel", "/odrive/cmd_vel")]

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

lifecycle_nodes = ["controller_server", "planner_server", "bt_navigator"]

lifecycle_nodes = ["controller_server", "planner_server", "bt_navigator", "waypoint_follower"]

load_nodes = GroupAction(

actions=[

PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),

Node(

package="nav2_controller",

executable="controller_server",

output="screen",

respawn=use_respawn,

respawn_delay=2.0,

parameters=[configured_params],

remappings=remappings,

# arguments=['--ros-args', '--log-level', 'debug']

Node(

package="nav2_planner",

executable="planner_server",

name="planner_server",

output="screen",

respawn=use_respawn,

respawn_delay=2.0,

parameters=[configured_params],

# prefix=['xterm -e gdb -ex run --args'],

remappings=remappings,

arguments=['--ros-args', '--log-level', 'debug']

Node(

package="nav2_bt_navigator",

executable="bt_navigator",

name="bt_navigator",

output="screen",

respawn=use_respawn,

respawn_delay=2.0,

parameters=[configured_params],

remappings=remappings,

# arguments=['--ros-args', '--log-level', 'debug']

# Node(

Node(

# package="nav2_waypoint_follower",

package="nav2_waypoint_follower",

# executable="waypoint_follower",

executable="waypoint_follower",

# name="waypoint_follower",

name="waypoint_follower",

# output="screen",

output="screen",

# respawn=use_respawn,

respawn=use_respawn,

# respawn_delay=2.0,

respawn_delay=2.0,

# parameters=[configured_params],

parameters=[configured_params],

# remappings=remappings,

remappings=remappings,

# # arguments=['--ros-args', '--log-level', 'debug']

# ),

Node(

package="nav2_lifecycle_manager",

executable="lifecycle_manager",

name="lifecycle_manager_navigation",

output="screen",

parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],

# arguments=['--ros-args', '--log-level', 'debug']

]

)

保存された差分

原文

ファイルを開く

param_substitutions = {"use_sim_time": "false", "yaml_filename": "turtlebot3_world.yaml"}
configured_params = RewrittenYaml(source_file=params_file, root_key=namespace, param_rewrites=param_substitutions, convert_types=True)
lifecycle_nodes = ["controller_server", "planner_server", "bt_navigator"]
load_nodes = GroupAction(
actions=[
PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
Node(
package="nav2_controller",
executable="controller_server",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings,
# arguments=['--ros-args', '--log-level', 'debug']
),
Node(
package="nav2_planner",
executable="planner_server",
name="planner_server",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
# prefix=['xterm -e gdb -ex run --args'],
remappings=remappings,
arguments=['--ros-args', '--log-level', 'debug']
),
Node(
package="nav2_bt_navigator",
executable="bt_navigator",
name="bt_navigator",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings,
# arguments=['--ros-args', '--log-level', 'debug']
),
# Node(
#     package="nav2_waypoint_follower",
#     executable="waypoint_follower",
#     name="waypoint_follower",
#     output="screen",
#     respawn=use_respawn,
#     respawn_delay=2.0,
#     parameters=[configured_params],
#     remappings=remappings,
#     # arguments=['--ros-args', '--log-level', 'debug']
# ),
Node(
package="nav2_lifecycle_manager",
executable="lifecycle_manager",
name="lifecycle_manager_navigation",
output="screen",
parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],
# arguments=['--ros-args', '--log-level', 'debug']
),
]
)

変更されたテキスト

ファイルを開く

param_substitutions = {"use_sim_time": use_sim_time, "autostart": autostart}
remappings = [("/tf", "tf"), ("/tf_static", "tf_static"), ("/cmd_vel", "/odrive/cmd_vel")]
configured_params = RewrittenYaml(source_file=params_file, root_key=namespace, param_rewrites=param_substitutions, convert_types=True)
lifecycle_nodes = ["controller_server", "planner_server", "bt_navigator", "waypoint_follower"]
load_nodes = GroupAction(
actions=[
Node(
package="nav2_controller",
executable="controller_server",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings,
),
Node(
package="nav2_planner",
executable="planner_server",
name="planner_server",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings,
),
Node(
package="nav2_bt_navigator",
executable="bt_navigator",
name="bt_navigator",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings,
),
Node(
package="nav2_waypoint_follower",
executable="waypoint_follower",
name="waypoint_follower",
output="screen",
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings,
),
Node(
package="nav2_lifecycle_manager",
executable="lifecycle_manager",
name="lifecycle_manager_navigation",
output="screen",
parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],
),
]
)