Added turtlebot4 demo launch files

2026-10-13 04:59:50 +08:00 · 2024-06-29 18:42:20 -07:00
parent eee311d4b6
commit 5d3b567fad
2 changed files with 186 additions and 0 deletions
@@ -0,0 +1,73 @@
+# Example:
+#   1) Launch simulator (turtlebot4, nav2 and rtabmap):
+#     $ ros2 launch rtabmap_demos turtlebot4_ignition.launch.py
+#
+#   2) Click on "Play" button on bottom-right of gazebo.
+#
+#   3) Click on double points ".." button on top right next to power button to undock.
+#
+#   4) Teleop the robot:
+#     $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
+#
+#   5) Send goals with RVIZ's "Nav2 Goal" button in action bar.
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+ARGUMENTS = [
+    DeclareLaunchArgument('rviz', default_value='true',
+                          choices=['true', 'false'], description='Start rviz.'),
+    DeclareLaunchArgument('rtabmap_viz', default_value='true',
+                          choices=['true', 'false'], description='Start rtabmap_viz.'),
+    DeclareLaunchArgument('localization', default_value='false',
+                          choices=['true', 'false'], description='Start rtabmap in localization mode (a map should have been already created).'),
+    DeclareLaunchArgument('nav2', default_value='true',
+                          choices=['true', 'false'], description='Start nav2.'),
+    DeclareLaunchArgument('world', default_value='warehouse',
+                          description='Ignition World'),
+]
+
+def generate_launch_description():
+    # Directories
+    pkg_turtlebot4_ignition_bringup = get_package_share_directory(
+        'turtlebot4_ignition_bringup')
+    pkg_rtabmap_demos = get_package_share_directory(
+        'rtabmap_demos')
+
+    # Paths
+    ignition_launch = PathJoinSubstitution(
+        [pkg_turtlebot4_ignition_bringup, 'launch', 'turtlebot4_ignition.launch.py'])
+    rtabmap_launch = PathJoinSubstitution(
+        [pkg_rtabmap_demos, 'launch', 'turtlebot4_slam.launch.py'])
+
+    ignition = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ignition_launch]),
+        launch_arguments=[
+            ('world', LaunchConfiguration('world')),
+            ('slam', 'false'),
+            ('localization', 'false'),
+            ('nav2', LaunchConfiguration('nav2')),
+            ('rviz', LaunchConfiguration('rviz'))
+        ]
+    )
+
+    rtabmap = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([rtabmap_launch]),
+        launch_arguments=[
+            ('rtabmap_viz', LaunchConfiguration('rtabmap_viz')),
+            ('localization', LaunchConfiguration('localization')),
+            ('qos', '2'),
+            ('use_sim_time', 'true')
+        ]
+    )
+
+    # Create launch description and add actions
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(rtabmap) # put it first so that localization arg is not overwritten by the same used by ignition
+    ld.add_action(ignition)
+    return ld