nav2: removed nav2_bringup_launch.py, use nav2_bringup/navigation_launch.py directly

launch/ros2/nav2_bringup_launch.py

@@ -1,120 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# 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.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, GroupAction,
-                            IncludeLaunchDescription, SetEnvironmentVariable)
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import PushRosNamespace
-
-def generate_launch_description():
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('nav2_bringup')
-    launch_dir = os.path.join(bringup_dir, 'launch')
-
-    # Create the launch configuration variables
-    namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    params_file = LaunchConfiguration('params_file')
-    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
-    autostart = LaunchConfiguration('autostart')
-
-    stdout_linebuf_envvar = SetEnvironmentVariable(
-        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
-
-    declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Top-level namespace')
-
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack')
-
-    declare_slam_cmd = DeclareLaunchArgument(
-        'slam',
-        default_value='False',
-        description='Whether run in SLAM mode or in localization-only mode')
-
-    declare_map_db_cmd = DeclareLaunchArgument(
-        'map',
-        default_value='~/.ros/rtabmap.db',
-        description='Full path to map db file to load')
-
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='false',
-        description='Use simulation (Gazebo) clock if true')
-
-    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 for navigation nodes')
-
-    declare_bt_xml_cmd = DeclareLaunchArgument(
-        'default_bt_xml_filename',
-        default_value=os.path.join(
-            get_package_share_directory('nav2_bt_navigator'),
-            'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
-        description='Full path to the behavior tree xml file to use')
-
-    declare_autostart_cmd = DeclareLaunchArgument(
-        'autostart', default_value='true',
-        description='Automatically startup the nav2 stack')
-
-    # Specify the actions
-    bringup_cmd_group = GroupAction([
-        PushRosNamespace(
-            condition=IfCondition(use_namespace),
-            namespace=namespace),
-            
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
-            launch_arguments={'namespace': namespace,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'params_file': params_file,
-                              'default_bt_xml_filename': default_bt_xml_filename,
-                              'use_lifecycle_mgr': 'false',
-                              'map_subscribe_transient_local': 'true'}.items()),
-    ])
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Set environment variables
-    ld.add_action(stdout_linebuf_envvar)
-
-    # Declare the launch options
-    ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
-    ld.add_action(declare_slam_cmd)
-    ld.add_action(declare_map_db_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_params_file_cmd)
-    ld.add_action(declare_autostart_cmd)
-    ld.add_action(declare_bt_xml_cmd)
-
-    # Add the actions to launch all of the navigation nodes
-    ld.add_action(bringup_cmd_group)
-
-    return ld

launch/ros2/turtlebot3_rgbd.launch.py

@@ -11,7 +11,7 @@
 #   $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info approx_sync:=true
 #
 #   Navigation (install nav2_bringup package):
-#     $ ros2 launch rtabmap_ros nav2_bringup_launch.py use_sim_time:=True
+#     $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
 #     $ ros2 launch nav2_bringup rviz_launch.py
 #
 #   Teleop:

launch/ros2/turtlebot3_rgbd_sync.launch.py

@@ -11,7 +11,7 @@
 #   $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true  approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true rgbd_sync:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info
 #
 #   Navigation (install nav2_bringup package):
-#     $ ros2 launch rtabmap_ros nav2_bringup_launch.py use_sim_time:=True
+#     $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
 #     $ ros2 launch nav2_bringup rviz_launch.py
 #
 #   Teleop:

launch/ros2/turtlebot3_scan.launch.py

@@ -10,7 +10,7 @@
 #   $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true
 #
 #   Navigation (install nav2_bringup package):
-#     $ ros2 launch rtabmap_ros nav2_bringup_launch.py use_sim_time:=True
+#     $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
 #     $ ros2 launch nav2_bringup rviz_launch.py
 #
 #   Teleop: