Nav2 Launch difference
생성일 비교 결과 만료 없음
18 삭제
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3 추가
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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)
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(
load_nodes = GroupAction(
actions=[
actions=[
PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
Node(
Node(
package="nav2_controller",
package="nav2_controller",
executable="controller_server",
executable="controller_server",
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(
Node(
package="nav2_planner",
package="nav2_planner",
executable="planner_server",
executable="planner_server",
name="planner_server",
name="planner_server",
output="screen",
output="screen",
respawn=use_respawn,
respawn=use_respawn,
respawn_delay=2.0,
respawn_delay=2.0,
parameters=[configured_params],
parameters=[configured_params],
# prefix=['xterm -e gdb -ex run --args'],
remappings=remappings,
remappings=remappings,
arguments=['--ros-args', '--log-level', 'debug']
),
),
Node(
Node(
package="nav2_bt_navigator",
package="nav2_bt_navigator",
executable="bt_navigator",
executable="bt_navigator",
name="bt_navigator",
name="bt_navigator",
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(
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(
Node(
package="nav2_lifecycle_manager",
package="nav2_lifecycle_manager",
executable="lifecycle_manager",
executable="lifecycle_manager",
name="lifecycle_manager_navigation",
name="lifecycle_manager_navigation",
output="screen",
output="screen",
parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],
parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],
# arguments=['--ros-args', '--log-level', 'debug']
),
),
]
]
)
)