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Taeyoung96Taeyoung96
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turtlebot gazebo용
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‎hdl_localization/launch/multi_hdl_localization_nav2_turtlebot.launch.py

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#############################################################################
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from launch import LaunchDescription
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from launch.substitutions import LaunchConfiguration
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import launch_ros.actions
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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from ament_index_python.packages import get_package_share_directory
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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def generate_launch_description():
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# Important, required arguments
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points_topic1 = LaunchConfiguration('points_topic', default='/tb3_0/velodyne_points')
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points_parents_frame_id = LaunchConfiguration('points_parents_frame_id', default='base_link')
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imu_topic1 = LaunchConfiguration('imu_topic', default='/tb3_0/imu')
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odom_child_frame_id1 = LaunchConfiguration('odom_child_frame_id', default='tb3_0/base_link')
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robot_odom_frame_id1 = LaunchConfiguration('robot_odom_frame_id', default='tb3_0/odom')
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algined_points_remap1 = LaunchConfiguration('aligned_points', default='/tb3_0/aligned_points')
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path_remap1 = LaunchConfiguration('path', default='/tb3_0/path')
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points_topic2 = LaunchConfiguration('points_topic', default='/tb3_1/velodyne_points')
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imu_topic2 = LaunchConfiguration('imu_topic', default='/tb3_1/imu')
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odom_child_frame_id2 = LaunchConfiguration('odom_child_frame_id', default='tb3_1/base_link')
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robot_odom_frame_id2 = LaunchConfiguration('robot_odom_frame_id', default='tb3_1/odom')
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algined_points_remap2 = LaunchConfiguration('aligned_points', default='/tb3_1/aligned_points')
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path_remap2 = LaunchConfiguration('path', default='/tb3_1/path')
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# 우선 겹치는 topic들 먼저 처리하기 aligned_points랑 path같은 것들 odom도 마찬가지
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globalmap_pcd = DeclareLaunchArgument('globalmap_pcd', default_value='/root/workspace/src/hdl_localization/data/map.pcd', description='Path to the global map PCD file')
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# optional arguments
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use_imu = LaunchConfiguration('use_imu', default='true')
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invert_imu_acc = LaunchConfiguration('invert_imu_acc', default='false')
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invert_imu_gyro = LaunchConfiguration('invert_imu_gyro', default='false')
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use_global_localization = LaunchConfiguration('use_global_localization', default='false')
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enable_robot_odometry_prediction = LaunchConfiguration('enable_robot_odometry_prediction', default='false')
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plot_estimation_errors = LaunchConfiguration('plot_estimation_errors', default='false')
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container = ComposableNodeContainer(
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name='container',
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namespace='',
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package='rclcpp_components',
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executable='component_container',
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composable_node_descriptions=[
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ComposableNode(
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package='hdl_localization',
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plugin='hdl_localization::GlobalmapServerNodelet',
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name='GlobalmapServerNodelet',
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parameters=[
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{'globalmap_pcd': LaunchConfiguration('globalmap_pcd')},
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{'convert_utm_to_local': True},
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{'downsample_resolution': 0.1}]),
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ComposableNode(
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package='hdl_localization',
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plugin='hdl_localization::HdlLocalizationNodelet',
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name='HdlLocalizationNode1',
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remappings=[('/velodyne_points', points_topic1), ('/gpsimu_driver/imu_data', imu_topic1),
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('/aligned_points', algined_points_remap1), ('/path', path_remap1)],
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parameters=[
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{'points_parents_frame_id': points_parents_frame_id},
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{'odom_child_frame_id': odom_child_frame_id1},
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{'use_imu': use_imu},
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{'invert_acc': invert_imu_acc},
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{'invert_gyro': invert_imu_gyro},
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{'cool_time_duration': 2.0},
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{'enable_robot_odometry_prediction': enable_robot_odometry_prediction},
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{'robot_odom_frame_id': robot_odom_frame_id1},
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# <!-- available reg_methods: NDT_OMP, NDT_CUDA_P2D, NDT_CUDA_D2D-->
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{'reg_method': 'NDT_OMP'},
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{'ndt_neighbor_search_method': 'DIRECT7'},
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{'ndt_neighbor_search_radius': 1.0},
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{'ndt_resolution': 0.5},
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{'downsample_resolution': 0.1},
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{'specify_init_pose': True},
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{'init_pos_x': 0.0},
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{'init_pos_y': 0.0},
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{'init_pos_z': 0.0},
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{'init_ori_w': 1.0},
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{'init_ori_x': 0.0},
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{'init_ori_y': 0.0},
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{'init_ori_z': 0.0},
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{'use_global_localization': use_global_localization}]),
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ComposableNode(
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package='hdl_localization',
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plugin='hdl_localization::HdlLocalizationNodelet',
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name='HdlLocalizationNode2',
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remappings=[('/velodyne_points', points_topic2), ('/gpsimu_driver/imu_data', imu_topic2),
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('/aligned_points', algined_points_remap2), ('/path', path_remap2)],
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parameters=[
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{'points_parents_frame_id': points_parents_frame_id},
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{'odom_child_frame_id': odom_child_frame_id2},
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{'use_imu': use_imu},
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{'invert_acc': invert_imu_acc},
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{'invert_gyro': invert_imu_gyro},
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{'cool_time_duration': 2.0},
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{'enable_robot_odometry_prediction': enable_robot_odometry_prediction},
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{'robot_odom_frame_id': robot_odom_frame_id2},
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# <!-- available reg_methods: NDT_OMP, NDT_CUDA_P2D, NDT_CUDA_D2D-->
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{'reg_method': 'NDT_OMP'},
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{'ndt_neighbor_search_method': 'DIRECT7'},
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{'ndt_neighbor_search_radius': 1.0},
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{'ndt_resolution': 0.5},
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{'downsample_resolution': 0.1},
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{'specify_init_pose': True},
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{'init_pos_x': 0.0},
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{'init_pos_y': 0.0},
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{'init_pos_z': 0.0},
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{'init_ori_w': 1.0},
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{'init_ori_x': 0.0},
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{'init_ori_y': 0.0},
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{'init_ori_z': 0.0},
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{'use_global_localization': use_global_localization}])
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],
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output='screen',
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)
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return LaunchDescription([globalmap_pcd,
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launch_ros.actions.SetParameter(name='use_sim_time', value=True),
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container])

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