Is there a working example of ROS 2 launch file for px4? #1895
Comments
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https://github.com/mavlink/mavros/blob/ros2/mavros/launch/px4.launch should be working, isn't it? |
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Thanks @vooon for your reply. Yes, it is working. Thanks. |
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Here is the script I wrote. #!/usr/bin/env python3
import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
ld = LaunchDescription()
fcu_url = LaunchConfiguration('fcu_url')
gcs_url = LaunchConfiguration('gcs_url')
tgt_system = LaunchConfiguration('tgt_system')
tgt_component = LaunchConfiguration('tgt_component')
log_output = LaunchConfiguration('log_output')
pluginlists_yaml = LaunchConfiguration('pluginlists_yaml')
config_yaml = LaunchConfiguration('config_yaml')
fcu_protocol = LaunchConfiguration('fcu_protocol')
namespace = LaunchConfiguration('namespace')
fcu_url_arg = DeclareLaunchArgument(
'fcu_url',
default_value='/dev/ttyACM0:57600',
description="FCU interface Example /dev/ttyACM0:57600"
)
gcs_url_arg = DeclareLaunchArgument(
'gcs_url',
default_value='',
description="GCS bridge interface"
)
tgt_system_arg = DeclareLaunchArgument(
'tgt_system',
default_value='1',
description="MAVLink ID of the target system"
)
tgt_component_arg = DeclareLaunchArgument(
'tgt_component',
default_value='1',
description="MAVLink component ID inside the target system"
)
log_output_arg = DeclareLaunchArgument(
'log_output',
default_value='screen',
description="Type of log output"
)
package_name = 'mavros'
file_name = 'launch/px4_pluginlists.yaml'
package_share_directory = get_package_share_directory(package_name)
file_path = os.path.join(package_share_directory, file_name)
pluginlists_yaml_arg = DeclareLaunchArgument(
'pluginlists_yaml',
default_value=file_path,
description="File path of the pluginlist_yaml file"
)
package_name = 'mavros'
file_name = 'launch/px4_config.yaml'
package_share_directory = get_package_share_directory(package_name)
file_path = os.path.join(package_share_directory, file_name)
config_yaml_arg = DeclareLaunchArgument(
'config_yaml',
default_value=file_path,
description="File path of the mavros config_yaml file"
)
fcu_protocol_arg = DeclareLaunchArgument(
'fcu_protocol',
default_value='v2.0',
description="MAVLink version"
)
namespace_arg = DeclareLaunchArgument(
'namespace',
default_value='mavros',
description="Node namespace"
)
# MAVROS node
mavros_node = Node(
namespace=namespace,
package='mavros',
executable='mavros_node',
parameters=[{
'fcu_url': fcu_url,
'gcs_url': gcs_url,
'tgt_system': tgt_system,
'tgt_component': tgt_component,
'fcu_protocol': fcu_protocol,
'config_yaml': config_yaml,
'pluginlists_yaml': pluginlists_yaml,
}]
)
ld.add_action(fcu_url_arg)
ld.add_action(gcs_url_arg)
ld.add_action(tgt_component_arg)
ld.add_action(tgt_system_arg)
ld.add_action(log_output_arg)
ld.add_action(fcu_protocol_arg)
ld.add_action(namespace_arg)
ld.add_action(pluginlists_yaml_arg)
ld.add_action(config_yaml_arg)
ld.add_action(mavros_node)
return ld |
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@mzahana |
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Hi @YazdanshensAmin For me, I also wanted to use a python launch file, so I created one and I shared it in my previous reply. That launch file can be run using the following command |
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@vooon
I get the following error: |
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I don't use ros foxy, so I can't tell. |
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This is the updated python launch file. The previous one did not set the config and pluginlists params correctly. #!/usr/bin/env python3
import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
ld = LaunchDescription()
fcu_url = LaunchConfiguration('fcu_url')
gcs_url = LaunchConfiguration('gcs_url')
tgt_system = LaunchConfiguration('tgt_system')
tgt_component = LaunchConfiguration('tgt_component')
log_output = LaunchConfiguration('log_output')
pluginlists_yaml = LaunchConfiguration('pluginlists_yaml')
config_yaml = LaunchConfiguration('config_yaml')
fcu_protocol = LaunchConfiguration('fcu_protocol')
mavros_namespace = LaunchConfiguration('mavros_namespace')
fcu_url_arg = DeclareLaunchArgument(
'fcu_url',
default_value='udp://:14540@127.0.0.1:14557',
description="FCU interface Example /dev/ttyACM0:57600 OR udp://:14540@127.0.0.1:14557"
)
gcs_url_arg = DeclareLaunchArgument(
'gcs_url',
default_value='',
description="GCS bridge interface"
)
tgt_system_arg = DeclareLaunchArgument(
'tgt_system',
default_value='1',
description="MAVLink ID of the target system"
)
tgt_component_arg = DeclareLaunchArgument(
'tgt_component',
default_value='1',
description="MAVLink component ID inside the target system"
)
log_output_arg = DeclareLaunchArgument(
'log_output',
default_value='screen',
description="Type of log output"
)
package_name = 'mavros'
file_name = 'launch/px4_pluginlists.yaml'
package_share_directory = get_package_share_directory(package_name)
file_path = os.path.join(package_share_directory, file_name)
pluginlists_yaml_arg = DeclareLaunchArgument(
'pluginlists_yaml',
default_value=file_path,
description="File path of the pluginlist_yaml file"
)
package_name = 'mavros'
file_name = 'launch/px4_config.yaml'
package_share_directory = get_package_share_directory(package_name)
file_path = os.path.join(package_share_directory, file_name)
config_yaml_arg = DeclareLaunchArgument(
'config_yaml',
default_value=file_path,
description="File path of the mavros config_yaml file"
)
fcu_protocol_arg = DeclareLaunchArgument(
'fcu_protocol',
default_value='v2.0',
description="MAVLink version"
)
namespace_arg = DeclareLaunchArgument(
'mavros_namespace',
default_value='mavros',
description="Node namespace"
)
# MAVROS node
mavros_node = Node(
namespace=mavros_namespace,
package='mavros',
executable='mavros_node',
parameters=[
{'fcu_url': fcu_url},
{'gcs_url': gcs_url},
{'tgt_system': tgt_system},
{'tgt_component': tgt_component},
{'fcu_protocol': fcu_protocol},
LaunchConfiguration('pluginlists_yaml'),
LaunchConfiguration('config_yaml')
]
)
ld.add_action(fcu_url_arg)
ld.add_action(gcs_url_arg)
ld.add_action(tgt_component_arg)
ld.add_action(tgt_system_arg)
ld.add_action(log_output_arg)
ld.add_action(fcu_protocol_arg)
ld.add_action(namespace_arg)
ld.add_action(pluginlists_yaml_arg)
ld.add_action(config_yaml_arg)
ld.add_action(mavros_node)
return ld |
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I actually unsure why python script is better, as in my opinion better to have some declarative dsl. |
Any solution to this issue?
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I am not able to find a
px4.launch.pyscript to launch mavros to communicate with PX4.Also, I could not find instructions on how to use mavros in ROS 2.
@vooon Can you please give some hints?
Thanks.
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