From 8e5c6967c68031f64618045cdab8f3f2bb5357a0 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 25 Jul 2024 11:57:40 -0400 Subject: [PATCH] Switch to new-style static_transform_publisher arguments. (#4563) 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 --- .../test/integration/costmap_tests_launch.py | 22 ++++++++- .../backup/test_backup_behavior.launch.py | 11 ++++- .../test_drive_on_heading_behavior.launch.py | 11 ++++- .../spin/test_spin_behavior.launch.py | 11 ++++- .../error_codes/test_error_codes_launch.py | 22 ++++++++- .../src/gps_navigation/test_case_py.launch.py | 49 ++++++++++++++----- .../src/updown/test_updown_launch.py | 44 +++++++++++++++-- .../planning_benchmark_bringup.py | 22 ++++++++- .../smoother_benchmark_bringup.py | 22 ++++++++- 9 files changed, 188 insertions(+), 26 deletions(-) diff --git a/nav2_costmap_2d/test/integration/costmap_tests_launch.py b/nav2_costmap_2d/test/integration/costmap_tests_launch.py index 692c4f9fce..364670b581 100755 --- a/nav2_costmap_2d/test/integration/costmap_tests_launch.py +++ b/nav2_costmap_2d/test/integration/costmap_tests_launch.py @@ -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( diff --git a/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py b/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py index d48c6ca0e7..c8696a6ad4 100755 --- a/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py +++ b/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py @@ -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 diff --git a/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py b/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py index ce6c381cd9..232e5a8c09 100755 --- a/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py +++ b/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py @@ -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 diff --git a/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py b/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py index cc9a9efa9b..e1f7c991b1 100755 --- a/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py +++ b/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py @@ -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 diff --git a/nav2_system_tests/src/error_codes/test_error_codes_launch.py b/nav2_system_tests/src/error_codes/test_error_codes_launch.py index 98a33d38d6..fd8072b43c 100755 --- a/nav2_system_tests/src/error_codes/test_error_codes_launch.py +++ b/nav2_system_tests/src/error_codes/test_error_codes_launch.py @@ -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', diff --git a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py index db949b7756..69f19dd6ac 100755 --- a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py +++ b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py @@ -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( diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py index 760f458d57..81e0cc1fda 100755 --- a/nav2_system_tests/src/updown/test_updown_launch.py +++ b/nav2_system_tests/src/updown/test_updown_launch.py @@ -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( diff --git a/tools/planner_benchmarking/planning_benchmark_bringup.py b/tools/planner_benchmarking/planning_benchmark_bringup.py index 09bb1bbe75..8ed9f40016 100644 --- a/tools/planner_benchmarking/planning_benchmark_bringup.py +++ b/tools/planner_benchmarking/planning_benchmark_bringup.py @@ -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', diff --git a/tools/smoother_benchmarking/smoother_benchmark_bringup.py b/tools/smoother_benchmarking/smoother_benchmark_bringup.py index 4d60e17e64..dd1380f0b2 100644 --- a/tools/smoother_benchmarking/smoother_benchmark_bringup.py +++ b/tools/smoother_benchmarking/smoother_benchmark_bringup.py @@ -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(