Jazzy sync 2: August 23, 2024

nav2_amcl/src/amcl_node.cpp

@@ -312,7 +312,8 @@ AmclNode::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
   pose_pub_->on_deactivate();
   particle_cloud_pub_->on_deactivate();
 
-  // reset dynamic parameter handler
+  // shutdown and reset dynamic parameter handler
+  remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
 
   // destroy bond connection
@@ -540,8 +541,8 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
       global_frame_id_.c_str());
     return;
   }
-  if (abs(msg->pose.pose.position.x) > map_->size_x ||
-    abs(msg->pose.pose.position.y) > map_->size_y)
+  if (first_map_received_ && (abs(msg->pose.pose.position.x) > map_->size_x ||
+    abs(msg->pose.pose.position.y) > map_->size_y))
   {
     RCLCPP_ERROR(
       get_logger(), "Received initialpose from message is out of the size of map. Rejecting.");

nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp

@@ -237,15 +237,6 @@ class TimedBehavior : public nav2_core::Behavior
 
     while (rclcpp::ok()) {
       elasped_time_ = clock_->now() - start_time;
-      if (action_server_->is_cancel_requested()) {
-        RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
-        stopRobot();
-        result->total_elapsed_time = elasped_time_;
-        onActionCompletion(result);
-        action_server_->terminate_all(result);
-        return;
-      }
-
       // TODO(orduno) #868 Enable preempting a Behavior on-the-fly without stopping
       if (action_server_->is_preempt_requested()) {
         RCLCPP_ERROR(
@@ -259,6 +250,15 @@ class TimedBehavior : public nav2_core::Behavior
         return;
       }
 
+      if (action_server_->is_cancel_requested()) {
+        RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
+        stopRobot();
+        result->total_elapsed_time = elasped_time_;
+        onActionCompletion(result);
+        action_server_->terminate_all(result);
+        return;
+      }
+
       ResultStatus on_cycle_update_result = onCycleUpdate();
       switch (on_cycle_update_result.status) {
         case Status::SUCCEEDED:

nav2_bringup/launch/bringup_launch.py

@@ -48,6 +48,7 @@ def generate_launch_description():
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
+    use_localization = LaunchConfiguration('use_localization')
 
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
@@ -99,6 +100,11 @@ def generate_launch_description():
         'map', default_value='', description='Full path to map yaml file to load'
     )
 
+    declare_use_localization_cmd = DeclareLaunchArgument(
+        'use_localization', default_value='True',
+        description='Whether to enable localization or not'
+    )
+
     declare_use_sim_time_cmd = DeclareLaunchArgument(
         'use_sim_time',
         default_value='false',
@@ -151,7 +157,7 @@ def generate_launch_description():
                 PythonLaunchDescriptionSource(
                     os.path.join(launch_dir, 'slam_launch.py')
                 ),
-                condition=IfCondition(slam),
+                condition=IfCondition(PythonExpression([slam, ' and ', use_localization])),
                 launch_arguments={
                     'namespace': namespace,
                     'use_sim_time': use_sim_time,
@@ -164,7 +170,7 @@ def generate_launch_description():
                 PythonLaunchDescriptionSource(
                     os.path.join(launch_dir, 'localization_launch.py')
                 ),
-                condition=IfCondition(PythonExpression(['not ', slam])),
+                condition=IfCondition(PythonExpression(['not ', slam, ' and ', use_localization])),
                 launch_arguments={
                     'namespace': namespace,
                     'map': map_yaml_file,
@@ -210,6 +216,7 @@ def generate_launch_description():
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
     ld.add_action(declare_log_level_cmd)
+    ld.add_action(declare_use_localization_cmd)
 
     # Add the actions to launch all of the navigation nodes
     ld.add_action(bringup_cmd_group)

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -111,11 +111,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

nav2_bringup/launch/tb3_loopback_simulation.launch.py

@@ -0,0 +1,224 @@
+# Copyright (C) 2024 Open Navigation LLC
+#
+# 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.
+
+"""This is all-in-one launch script intended for use by nav2 developers."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    GroupAction,
+    IncludeLaunchDescription,
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, SetParameter
+from launch_ros.descriptions import ParameterFile
+
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    loopback_sim_dir = get_package_share_directory('nav2_loopback_sim')
+    launch_dir = os.path.join(bringup_dir, 'launch')
+    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
+
+    # Create the launch configuration variables
+    namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    map_yaml_file = LaunchConfiguration('map')
+    params_file = LaunchConfiguration('params_file')
+    autostart = LaunchConfiguration('autostart')
+    use_composition = LaunchConfiguration('use_composition')
+    use_respawn = LaunchConfiguration('use_respawn')
+
+    # Launch configuration variables specific to simulation
+    rviz_config_file = LaunchConfiguration('rviz_config_file')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    use_rviz = LaunchConfiguration('use_rviz')
+
+    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
+
+    # Declare the launch arguments
+    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_map_yaml_cmd = DeclareLaunchArgument(
+        'map',
+        default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
+    )
+
+    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 to use for all launched nodes',
+    )
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart',
+        default_value='true',
+        description='Automatically startup the nav2 stack',
+    )
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition',
+        default_value='True',
+        description='Whether to use composed bringup',
+    )
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn',
+        default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
+    )
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config_file',
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
+        description='Full path to the RVIZ config file to use',
+    )
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        'use_robot_state_pub',
+        default_value='True',
+        description='Whether to start the robot state publisher',
+    )
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz', default_value='True', description='Whether to start RVIZ'
+    )
+
+    urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    with open(urdf, 'r') as infp:
+        robot_description = infp.read()
+
+    start_robot_state_publisher_cmd = Node(
+        condition=IfCondition(use_robot_state_pub),
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        namespace=namespace,
+        output='screen',
+        parameters=[
+            {'use_sim_time': True, 'robot_description': robot_description}
+        ],
+        remappings=remappings,
+    )
+
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={
+            'namespace': namespace,
+            'use_namespace': use_namespace,
+            'use_sim_time': 'True',
+            'rviz_config': rviz_config_file,
+        }.items(),
+    )
+
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
+        launch_arguments={
+            'namespace': namespace,
+            'use_namespace': use_namespace,
+            'map': map_yaml_file,
+            'use_sim_time': 'True',
+            'params_file': params_file,
+            'autostart': autostart,
+            'use_composition': use_composition,
+            'use_respawn': use_respawn,
+            'use_localization': 'False',  # Don't use SLAM, AMCL
+        }.items(),
+    )
+
+    loopback_sim_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(loopback_sim_dir, 'loopback_simulation.launch.py')),
+        launch_arguments={
+            'params_file': params_file,
+        }.items(),
+    )
+
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites={},
+            convert_types=True,
+        ),
+        allow_substs=True,
+    )
+
+    start_map_server = GroupAction(
+        actions=[
+            SetParameter('use_sim_time', True),
+            Node(
+                package='nav2_map_server',
+                executable='map_server',
+                name='map_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params, {'yaml_filename': map_yaml_file}],
+                remappings=remappings,
+            ),
+            Node(
+                package='nav2_lifecycle_manager',
+                executable='lifecycle_manager',
+                name='lifecycle_manager_map_server',
+                output='screen',
+                parameters=[
+                    configured_params,
+                    {'autostart': autostart}, {'node_names': ['map_server']}],
+            ),
+        ]
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_map_yaml_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+
+    ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(start_map_server)
+    ld.add_action(loopback_sim_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+
+    return ld

nav2_bringup/launch/tb3_simulation_launch.py

@@ -214,12 +214,11 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
-    gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
-        condition=IfCondition(use_simulator))
+    gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+        condition=IfCondition(use_simulator)
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[