update for the gazebo ign support aslo, along with classic

tortoisebot_bringup/launch/autobringup_ign.launch.py

@@ -0,0 +1,150 @@
+import os
+import launch
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration, PythonExpression,Command
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable,IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+import launch_ros
+from launch_ros.descriptions import ParameterValue
+
+def generate_launch_description():
+  pkg_share = launch_ros.substitutions.FindPackageShare(package='tortoisebot_description').find('tortoisebot_description')
+  navigation_dir = os.path.join(get_package_share_directory('tortoisebot_navigation'), 'launch')
+  rviz_launch_dir=os.path.join(get_package_share_directory('tortoisebot_description'), 'launch')
+  gazebo_launch_dir=os.path.join(get_package_share_directory('tortoisebot_gazebo'), 'launch')
+  ydlidar_launch_dir=os.path.join(get_package_share_directory('ydlidar_ros2_driver'), 'launch')
+  camera_launch_dir=os.path.join(get_package_share_directory('v4l2_camera'), 'launch')
+  cartographer_launch_dir=os.path.join(get_package_share_directory('tortoisebot_slam'), 'launch')
+  prefix_address = get_package_share_directory('tortoisebot_navigation') 
+  default_model_path = os.path.join(pkg_share, 'models/urdf/tortoisebot_ign.xacro')
+  default_rviz_config_path = os.path.join(get_package_share_directory('tortoisebot_description'), 'rviz/tortoisebot_sensor_display.rviz')
+
+
+  params_file_sim = os.path.join(prefix_address, 'config', 'nav2_params_simulation.yaml')
+  params_file_robot = os.path.join(prefix_address, 'config', 'nav2_params_robot.yaml')
+
+  map_file=LaunchConfiguration('map')
+  map_directory = os.path.join(get_package_share_directory(
+        'tortoisebot_bringup'), 'maps','second.yaml')
+  use_sim_time=LaunchConfiguration('use_sim_time')
+  exploration=LaunchConfiguration('exploration')   
+
+  rviz_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', LaunchConfiguration('rvizconfig')],
+        parameters= [{'use_sim_time': use_sim_time}],
+
+    )
+
+  state_publisher_launch_cmd=IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(rviz_launch_dir, 'state_publisher_ign.launch.py')),
+            launch_arguments={'use_sim_time':use_sim_time}.items())
+
+  gazebo_launch_cmd=IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(gazebo_launch_dir, 'gazebo_ign.launch.py')),
+            condition=IfCondition(use_sim_time),
+            launch_arguments={'use_sim_time':use_sim_time}.items())
+
+  navigation_launch_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(navigation_dir, 'navigation.launch.py')),
+        launch_arguments={'params_file': params_file_robot}.items())
+
+  cartographer_launch_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(cartographer_launch_dir, 'cartographer.launch.py')),
+        launch_arguments={'params_file': params_file_robot,
+                          'exploration': exploration,
+                          'use_sim_time': use_sim_time}.items())  
+
+  ydlidar_launch_cmd=IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ydlidar_launch_dir, 'ydlidar_launch.py')),
+            condition=IfCondition(PythonExpression(['not ', use_sim_time])),
+            launch_arguments={'use_sim_time':use_sim_time}.items())
+
+  differential_drive_node = Node(
+        package='tortoisebot_firmware',
+        condition=IfCondition(PythonExpression(['not ', use_sim_time])),
+        executable='differential.py',
+        name ='differential_drive_publisher',
+    )
+  camera_drive_node = Node(
+        package='v4l2_camera',
+        condition=IfCondition(PythonExpression(['not ', use_sim_time])),
+        executable='v4l2_camera_node',
+        name ='camera_publisher',
+    )
+  camera_node = Node(
+      package='camera_ros',
+      condition=IfCondition(PythonExpression(['not ', use_sim_time])),
+      executable='camera_node',
+      name ='pi_camera',
+      parameters= [{'height': 360},{'width': 480}],
+    )
+  robot_state_publisher_node = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'use_sim_time': use_sim_time},{'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),value_type=str)}]
+    )
+
+  joint_state_publisher_node = launch_ros.actions.Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters= [{'use_sim_time': use_sim_time}],
+    )
+  return LaunchDescription([
+
+    SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+    launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='False',
+                                            description='Flag to enable use_sim_time'),
+    launch.actions.DeclareLaunchArgument(name='exploration', default_value='True',
+                                            description='Flag to enable use_sim_time'),
+    launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
+                                          description='Absolute path to robot urdf file'),
+    launch.actions.DeclareLaunchArgument(name='map',default_value=map_directory,
+                                          description='Map to be used'),
+    launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
+                                            description='Absolute path to rviz config file'),
+ Node(
+        package='nav2_map_server',
+        condition=IfCondition(PythonExpression(['not ', exploration])),
+        executable='map_server',
+        name='map_server',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time},
+                    {'yaml_filename': map_file}
+                    ]),
+    Node(
+        package='nav2_lifecycle_manager',
+        condition=IfCondition(PythonExpression(['not ', exploration])),
+        executable='lifecycle_manager',
+        name='lifecycle_manager_mapper',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time},
+                    {'autostart': True},
+                    {'node_names': ['map_server']}]),
+
+    rviz_node,
+    state_publisher_launch_cmd,
+    robot_state_publisher_node,
+    joint_state_publisher_node,
+    ydlidar_launch_cmd,
+    differential_drive_node,
+    camera_drive_node,
+    gazebo_launch_cmd,
+    navigation_launch_cmd, 
+    cartographer_launch_cmd
+
+  ]
+)
+

tortoisebot_bringup/maps/second.yaml

@@ -0,0 +1,7 @@
+image: second.pgm
+mode: trinary
+resolution: 0.05
+origin: [-2.25, -2.27, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

tortoisebot_description/launch/state_publisher_ign.launch.py

@@ -0,0 +1,58 @@
+from ament_index_python import get_package_share_directory
+import launch
+import os
+from launch.substitutions import Command, LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import PythonExpression
+import launch_ros
+from launch_ros.descriptions import ParameterValue
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    default_model_path = os.path.join(get_package_share_directory('tortoisebot_description'), 'models/urdf/tortoisebot_ign.xacro')
+    real_robot_model_path = os.path.join(get_package_share_directory('tortoisebot_description'), 'models/urdf/tortoisebotreal.xacro')
+
+    # Robot state publisher for simulation (when use_sim_time is True)
+    robot_state_publisher_sim = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{
+            'use_sim_time': use_sim_time,
+            'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), value_type=str)
+        }],
+        condition=IfCondition(use_sim_time)
+    )
+
+    # Robot state publisher for real robot (when use_sim_time is False)
+    robot_state_publisher_real = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{
+            'use_sim_time': use_sim_time,
+            'robot_description': ParameterValue(Command(['xacro ', real_robot_model_path]), value_type=str)
+        }],
+        condition=UnlessCondition(use_sim_time)
+    )
+
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'use_sim_time': use_sim_time}],
+    )
+
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            name='use_sim_time', 
+            default_value='False',
+            description='Flag to enable use_sim_time'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='model', 
+            default_value=default_model_path,
+            description='Absolute path to robot urdf file (used only when use_sim_time is True)'
+        ),
+        robot_state_publisher_sim,
+        robot_state_publisher_real,
+        joint_state_publisher_node
+    ])