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Switch to new-style static_transform_publisher arguments. (#4563)
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These arguments have been the preferred way to use things
since at least Humble.  This avoids warnings when running it for the tests.

Signed-off-by: Chris Lalancette <[email protected]>
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@clalancette @SteveMacenski
clalancette authored and SteveMacenski committed Aug 23, 2024
1 parent 98a5fb4 commit 8e5c696
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Showing 9 changed files with 188 additions and 26 deletions.
22 changes: 20 additions & 2 deletions nav2_costmap_2d/test/integration/costmap_tests_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,14 +36,32 @@ def main(argv=sys.argv[1:]):
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'map',
'--child-frame-id', 'odom'
],
)

odom_to_base_link = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_link'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'odom',
'--child-frame-id', 'base_link'
],
)

lifecycle_manager = launch_ros.actions.Node(
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11 changes: 10 additions & 1 deletion nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,16 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'map',
'--child-frame-id', 'odom'
],
parameters=[{'use_sim_time': True}],
),
# Need transforms
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11 changes: 10 additions & 1 deletion nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,16 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'map',
'--child-frame-id', 'odom'
],
parameters=[{'use_sim_time': True}],
),
# Need transforms
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11 changes: 10 additions & 1 deletion nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,16 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'map',
'--child-frame-id', 'odom'
],
parameters=[{'use_sim_time': True}],
),
# Need transforms
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22 changes: 20 additions & 2 deletions nav2_system_tests/src/error_codes/test_error_codes_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,13 +37,31 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'map',
'--child-frame-id', 'odom'
],
),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_link'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'odom',
'--child-frame-id', 'base_link'
],
),
Node(
package='nav2_controller',
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49 changes: 38 additions & 11 deletions nav2_system_tests/src/gps_navigation/test_case_py.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,34 +64,61 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_footprint',
'--child-frame-id', 'base_link'
],
),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'base_scan'
],
),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=[
'-0.32',
'0',
'0.068',
'0',
'0',
'0',
'base_link',
'imu_link',
'--x', '-0.32',
'--y', '0',
'--z', '0.068',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'imu_link'
],
),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'gps_link'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'gps_link'
],
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
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44 changes: 40 additions & 4 deletions nav2_system_tests/src/updown/test_updown_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,28 +34,64 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'map',
'--child-frame-id', 'odom'
],
)

start_tf_cmd_2 = Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'odom',
'--child-frame-id', 'base_footprint'
],
)

start_tf_cmd_3 = Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_footprint',
'--child-frame-id', 'base_link'
],
)

start_tf_cmd_4 = Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'base_scan'
],
)

nav2_bringup = launch.actions.IncludeLaunchDescription(
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22 changes: 20 additions & 2 deletions tools/planner_benchmarking/planning_benchmark_bringup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,13 +53,31 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'map'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'map'
],
),
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'odom'
],
),
Node(
package='nav2_lifecycle_manager',
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22 changes: 20 additions & 2 deletions tools/smoother_benchmarking/smoother_benchmark_bringup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,14 +35,32 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'map'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'map'
],
)

static_transform_two = Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'odom'],
arguments=[
'--x', '0',
'--y', '0',
'--z', '0',
'--roll', '0',
'--pitch', '0',
'--yaw', '0',
'--frame-id', 'base_link',
'--child-frame-id', 'odom'
],
)

start_map_server_cmd = Node(
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