init

toid_navigation/launch/view_map.py

@@ -0,0 +1,60 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node, LifecycleNode
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('toid_navigation')
+    #default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf')
+    params = os.path.join(pkg_share, 'params', 'toid_costmap_params.yaml')
+    map = os.path.join(pkg_share, 'maps', 'mapb2_5cm.yaml')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'conf.rviz')
+
+
+    map_server = Node(
+        package='nav2_map_server',
+        executable='map_server',
+        name='map_server',
+        output='screen',
+        parameters=[{'yaml_filename': map}]
+    )
+
+    costmap2d_node = Node(
+        package='nav2_costmap_2d',
+        executable='nav2_costmap_2d',
+        name='global_costmap',
+        output='screen',
+        parameters=[params]
+    )
+
+    lifecycle_manager_node = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager',
+        output='screen',
+        parameters=[params]
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path]
+    )
+
+    return LaunchDescription([
+        map_server,
+        costmap2d_node,
+        lifecycle_manager_node,
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='map_to_base_link_broadcaster',
+            arguments=['0', '0', '0', '0', '0', '0', 'map', 'base_link']
+        ),
+        rviz_node
+    ])