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support dynamic composed bringup (ros-navigation#2750)
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* support dynamic composed bringup

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* update

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* update delcares in launch

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* use component_container_isolated

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* update README

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
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@gezp
gezp authored Jan 26, 2022
1 parent 75876b7 commit 417f014
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34 changes: 0 additions & 34 deletions nav2_bringup/CMakeLists.txt
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Expand Up @@ -4,43 +4,9 @@ project(nav2_bringup)
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(navigation2 REQUIRED)
find_package(nav2_map_server REQUIRED)
find_package(nav2_amcl REQUIRED)
find_package(nav2_controller REQUIRED)
find_package(nav2_smoother REQUIRED)
find_package(nav2_planner REQUIRED)
find_package(nav2_recoveries REQUIRED)
find_package(nav2_bt_navigator REQUIRED)
find_package(nav2_waypoint_follower REQUIRED)
find_package(nav2_lifecycle_manager REQUIRED)

nav2_package()

set(executable_name composed_bringup)
add_executable(${executable_name}
src/composed_bringup.cpp
)

set(dependencies
nav2_map_server
nav2_amcl
nav2_controller
nav2_smoother
nav2_planner
nav2_recoveries
nav2_bt_navigator
nav2_waypoint_follower
nav2_lifecycle_manager
)

ament_target_dependencies(${executable_name}
${dependencies}
)

install(TARGETS ${executable_name}
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
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3 changes: 1 addition & 2 deletions nav2_bringup/README.md
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Expand Up @@ -6,10 +6,9 @@ This is a very flexible example for nav2 bringup that can be modified for differ

Usual robot stacks will have a `<robot_name>_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of.

Composed bringup (based on [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Manually composed bring up is used by default, but can be disabled by using the launch argument `use_composition:=False`.
Dynamically composed bringup (based on [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`.

* Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
* Currently, manual composition is used in this package. Dynamic composition is more flexible than manual composition, but is not currently applied in nav2 due to various issues, you could find more details here: https://github.com/ros-planning/navigation2/issues/2147.

To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.

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26 changes: 15 additions & 11 deletions nav2_bringup/launch/bringup_launch.py
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Expand Up @@ -108,6 +108,15 @@ def generate_launch_description():
condition=IfCondition(use_namespace),
namespace=namespace),

Node(
condition=IfCondition(use_composition),
name='nav2_container',
package='rclcpp_components',
executable='component_container_isolated',
parameters=[configured_params, {'autostart': autostart}],
remappings=remappings,
output='screen'),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
condition=IfCondition(slam),
Expand All @@ -124,23 +133,18 @@ def generate_launch_description():
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file}.items()),

Node(
condition=IfCondition(use_composition),
package='nav2_bringup',
executable='composed_bringup',
output='screen',
parameters=[configured_params, {'autostart': autostart}],
remappings=remappings),
'params_file': params_file,
'use_composition': use_composition,
'container_name': 'nav2_container'}.items()),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
condition=IfCondition(PythonExpression(['not ', use_composition])),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file}.items()),
'params_file': params_file,
'use_composition': use_composition,
'container_name': 'nav2_container'}.items()),
])

# Create the launch description and populate
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169 changes: 116 additions & 53 deletions nav2_bringup/launch/localization_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,12 @@
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml


Expand All @@ -32,6 +35,9 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
use_composition = LaunchConfiguration('use_composition')
container_name = LaunchConfiguration('container_name')

lifecycle_nodes = ['map_server', 'amcl']

# Map fully qualified names to relative ones so the node's namespace can be prepended.
Expand All @@ -54,54 +60,111 @@ def generate_launch_description():
param_rewrites=param_substitutions,
convert_types=True)

return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),

DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),

DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
description='Full path to map yaml file to load'),

DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),

DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),

DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),

Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),

Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),

Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}])
])
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Top-level namespace')

declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
description='Full path to map yaml 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 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='False',
description='Use composed bringup if True')

declare_container_name_cmd = DeclareLaunchArgument(
'container_name', default_value='nav2_container',
description='the name of conatiner that nodes will load in if use composition')

load_nodes = GroupAction(
condition=IfCondition(PythonExpression(['not ', use_composition])),
actions=[
Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}])
]
)

load_composable_nodes = LoadComposableNodes(
condition=IfCondition(use_composition),
target_container=container_name,
composable_node_descriptions=[
ComposableNode(
package='nav2_map_server',
plugin='nav2_map_server::MapServer',
name='map_server',
parameters=[configured_params],
remappings=remappings),
ComposableNode(
package='nav2_amcl',
plugin='nav2_amcl::AmclNode',
name='amcl',
parameters=[configured_params],
remappings=remappings),
ComposableNode(
package='nav2_lifecycle_manager',
plugin='nav2_lifecycle_manager::LifecycleManager',
name='lifecycle_manager_localization',
parameters=[{'use_sim_time': use_sim_time,
'autostart': autostart,
'node_names': lifecycle_nodes}]),
],
)

# 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_map_yaml_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_use_composition_cmd)
ld.add_action(declare_container_name_cmd)

# Add the actions to launch all of the localiztion nodes
ld.add_action(load_nodes)
ld.add_action(load_composable_nodes)

return ld
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