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Fixing turtlebot3 demos on Jazzy (#1422)

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* Fixing turtlebot3 demos on Jazzy

* Updated humble

* Working turtlebot3 demos on humble and jazzy
This commit is contained in:
matlabbe
2026-05-05 22:23:02 -07:00
committed by GitHub
parent 45375bb3c0
commit 8871f934b5
14 changed files with 2379 additions and 497 deletions
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rtabmap_demos/launch/turtlebot3/turtlebot3_sim_scan_demo.launch.py
+97 -64
View File
@@ -14,18 +14,22 @@
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
from launch.actions import AppendEnvironmentVariable, DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
import os
ROS_DISTRO = os.environ.get('ROS_DISTRO')
def launch_setup(context, *args, **kwargs):
if not 'TURTLEBOT3_MODEL' in os.environ:
os.environ['TURTLEBOT3_MODEL'] = 'waffle'
# Directories
pkg_turtlebot3_gazebo = get_package_share_directory(
'turtlebot3_gazebo')
pkg_nav2_bringup = get_package_share_directory(
'nav2_bringup')
pkg_rtabmap_demos = get_package_share_directory(
@@ -37,14 +41,26 @@ def launch_setup(context, *args, **kwargs):
icp_odometry = icp_odometry == 'True' or icp_odometry == 'true'
if icp_odometry:
# modified nav2 params to use icp_odom instead odom frame
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('rtabmap_demos'), 'params', 'turtlebot3_scan_nav2_params.yaml']
)
if ROS_DISTRO == 'humble':
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('rtabmap_demos'), 'params', 'humble', 'turtlebot3_scan_nav2_params.yaml']
)
else:
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('rtabmap_demos'), 'params', 'turtlebot3_scan_nav2_params.yaml']
)
else:
# original nav2 params
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('nav2_bringup'), 'params', 'nav2_params.yaml']
)
if ROS_DISTRO == 'humble':
# original nav2 params
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('nav2_bringup'), 'params', 'nav2_params.yaml']
)
else:
# original nav2 params but with "enable_stamped_cmd_vel: True"
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('rtabmap_demos'), 'params', 'turtlebot3_nav2_params.yaml']
)
# Paths
nav2_launch = PathJoinSubstitution(
@@ -53,56 +69,6 @@ def launch_setup(context, *args, **kwargs):
[pkg_nav2_bringup, 'launch', 'rviz_launch.py'])
rtabmap_launch = PathJoinSubstitution(
[pkg_rtabmap_demos, 'launch', 'turtlebot3', 'turtlebot3_scan.launch.py'])
# To use ICP odometry, we should increase clock rate of gazebo, we copied content of
# turtlebot3_gazebo/launch/turtlebot3_world.launch here
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
world = os.path.join(
get_package_share_directory('turtlebot3_gazebo'),
'worlds',
f'turtlebot3_{world_name}.world'
)
import tempfile
with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as clock_override_file:
clock_override_file.write("---\n"+
"gazebo:\n"+
" ros__parameters:\n"+
" publish_rate: 100.0")
gzserver_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={
'world': world,
'params_file': clock_override_file.name}.items()
)
gzclient_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
)
)
robot_state_publisher_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
),
launch_arguments={'use_sim_time': 'true'}.items()
)
spawn_turtlebot_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
),
launch_arguments={
'x_pose': LaunchConfiguration('x_pose'),
'y_pose': LaunchConfiguration('y_pose')
}.items()
)
nav2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch]),
@@ -121,16 +87,83 @@ def launch_setup(context, *args, **kwargs):
('use_sim_time', 'true')
]
)
# To use ICP odometry, we should increase clock rate of gazebo (humble), we copied content of
# turtlebot3_gazebo/launch/turtlebot3_world.launch here.
turtlebot3_nodes = []
if ROS_DISTRO == 'humble':
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
import tempfile
with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as clock_override_file:
clock_override_file.write("---\n"+
"gazebo:\n"+
" ros__parameters:\n"+
" publish_rate: 100.0")
world = os.path.join(
pkg_turtlebot3_gazebo,
'worlds',
f'turtlebot3_{world_name}.world'
)
gzserver_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={
'world': world,
'params_file': clock_override_file.name}.items()
)
gzclient_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
)
)
robot_state_publisher_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_turtlebot3_gazebo, 'launch', 'robot_state_publisher.launch.py')
),
launch_arguments={'use_sim_time': 'true'}.items()
)
spawn_turtlebot_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_turtlebot3_gazebo, 'launch', 'spawn_turtlebot3.launch.py')
),
launch_arguments={
'x_pose': LaunchConfiguration('x_pose'),
'y_pose': LaunchConfiguration('y_pose')
}.items()
)
set_env_vars_resources = AppendEnvironmentVariable(
'GZ_SIM_RESOURCE_PATH',
os.path.join(pkg_turtlebot3_gazebo, 'models'))
turtlebot3_nodes = [
gzserver_cmd,
gzclient_cmd,
robot_state_publisher_cmd,
spawn_turtlebot_cmd,
set_env_vars_resources
]
else:
gazebo_launch = PathJoinSubstitution([pkg_turtlebot3_gazebo, 'launch', f'turtlebot3_{world_name}.launch.py'])
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([gazebo_launch]),
launch_arguments=[
('x_pose', LaunchConfiguration('x_pose')),
('y_pose', LaunchConfiguration('y_pose'))
]
)
turtlebot3_nodes = [gazebo]
return [
# Nodes to launch
nav2,
rviz,
rtabmap,
gzserver_cmd,
gzclient_cmd,
robot_state_publisher_cmd,
spawn_turtlebot_cmd
]
rtabmap] + turtlebot3_nodes
def generate_launch_description():
return LaunchDescription([