Prepare demo launch files

mrpt-ros-pkg · Aug 26, 2023 · 314f94b · 314f94b
1 parent 8cabcb0
commit 314f94b
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Showing 12 changed files with 66 additions and 376 deletions.
diff --git a/mrpt_local_obstacles/package.xml b/mrpt_local_obstacles/package.xml
@@ -14,7 +14,7 @@
 
   <license>BSD</license>
 
-  <url type="website">https://wiki.ros.org/mrpt_local_obstacles</url>
+  <url type="website">https://github.com/mrpt-ros-pkg/mrpt_navigation</url>
 
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/mrpt_map/package.xml b/mrpt_map/package.xml
@@ -9,7 +9,7 @@
   <maintainer email="[email protected]">Shravan S Rai</maintainer>
 
   <license>BSD</license>
-  <url type="website">https://wiki.ros.org/mrpt_map</url>
+  <url type="website">https://github.com/mrpt-ros-pkg/mrpt_navigation</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/mrpt_msgs_bridge/package.xml b/mrpt_msgs_bridge/package.xml
@@ -4,7 +4,7 @@
   <version>1.0.3</version>
   <description>C++ library to convert between custom mrpt_msgs messages and native MRPT classes</description>
 
-  <url type="website">https://www.mrpt.org/</url>
+  <url type="website">https://github.com/mrpt-ros-pkg/mrpt_navigation</url>
   <maintainer email="[email protected]">José Luis Blanco-Claraco</maintainer>
   <maintainer email="[email protected]">Shravan S Rai</maintainer>
 

diff --git a/mrpt_pf_localization/CMakeLists.txt b/mrpt_pf_localization/CMakeLists.txt
@@ -99,7 +99,7 @@ install(
 )
 
 install(
-  DIRECTORY launch tutorial
+  DIRECTORY launch params
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/mrpt_pf_localization/launch/demo_2d_lidar.launch.py b/mrpt_pf_localization/launch/demo_2d_lidar.launch.py
diff --git a/mrpt_pf_localization/launch/demo_2d_lidar_gridmap.launch.py b/mrpt_pf_localization/launch/demo_2d_lidar_gridmap.launch.py
@@ -0,0 +1,56 @@
+
+# ROS2 launch file
+
+from launch import LaunchDescription
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from ament_index_python import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    pfLocDir = get_package_share_directory("mrpt_pf_localization")
+    pfTutorialsDir = get_package_share_directory("mrpt_tutorials")
+    print('pfLocDir       : ' + pfLocDir)
+    print('pfTutorialsDir : ' + pfTutorialsDir)
+
+    # args that can be set from the command line or a default will be used
+    mrpt_map_config_file_launch_arg = DeclareLaunchArgument(
+        "mrpt_map_config_file", default_value=TextSubstitution(
+            text=os.path.join(pfLocDir, 'params', 'map-occgrid2d.ini')))
+
+    mrpt_simplemap_file_launch_arg = DeclareLaunchArgument(
+        "mrpt_simplemap_file", default_value=TextSubstitution(
+            text=os.path.join(pfTutorialsDir, 'maps', 'gh25_real_top_laser.simplemap')))
+
+    defaultParamsFile = os.path.join(pfLocDir, 'params', 'default.config.yaml')
+
+    mvsim_node = Node(
+        package='mrpt_pf_localization',
+        executable='mrpt_pf_localization_node',
+        name='mrpt_pf_localization',
+        output='screen',
+        parameters=[
+            defaultParamsFile,
+            {
+                "mrpt_map_config_file": LaunchConfiguration('mrpt_map_config_file'),
+                "mrpt_simplemap_file": LaunchConfiguration('mrpt_simplemap_file'),
+            }]
+    )
+
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=[
+                '-d', [os.path.join(pfTutorialsDir, 'rviz', 'demo_localization.rviz')]]
+    )
+
+    return LaunchDescription([
+        mrpt_map_config_file_launch_arg,
+        mrpt_simplemap_file_launch_arg,
+        mvsim_node,
+        rviz2_node
+    ])
diff --git a/mrpt_pf_localization/package.xml b/mrpt_pf_localization/package.xml
@@ -8,7 +8,7 @@
    but supports different particle-filter algorithms, several grid maps at
    different heights, range-only localization, etc.</description>
 
-  <url type="website">https://www.mrpt.org/</url>
+  <url type="website">https://github.com/mrpt-ros-pkg/mrpt_navigation</url>
   <maintainer email="[email protected]">Markus Bader</maintainer>
   <maintainer email="[email protected]">Jose Luis Blanco-Claraco</maintainer>
   <author>Markus Bader</author>
@@ -34,6 +34,8 @@
 
   <depend>ament_lint_common</depend>
 
+  <test_depend>mrpt_tutorials</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/mrpt_pf_localization/params/default.config.yaml b/mrpt_pf_localization/params/default.config.yaml
@@ -8,7 +8,7 @@
 # PFLocalizationCore class skipping those two top-level YAML maps, as done
 # in the unit tests (see "test/*.cpp")
 #
-mrpt_pf_localization_node:
+mrpt_pf_localization:
   ros__parameters:
     # If false (default), will use 2D (SE(2)) particle filter.
     # Otherwise,the 3D mode (SE(3)) is enabled.

diff --git a/mrpt_reactivenav2d/package.xml b/mrpt_reactivenav2d/package.xml
@@ -11,7 +11,7 @@
 
   <license>BSD</license>
 
-  <url type="website">https://wiki.ros.org/mrpt_reactivenav2d</url>
+  <url type="website">https://github.com/mrpt-ros-pkg/mrpt_navigation</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/mrpt_tutorials/CMakeLists.txt b/mrpt_tutorials/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(ament_cmake REQUIRED)
 
 # Mark other files for installation (e.g. launch and bag files, etc.)
 install(DIRECTORY
-  cfg
+  datasets
   gazebo
   launch
   maps

diff --git a/mrpt_tutorials/cfg/pf-localization.ini b/mrpt_tutorials/cfg/pf-localization.ini