Make it possible to launch multi-robot which rewrites <robot_namespace> to namespace.

Automatically apply namespace on specific target topic path in costmap plugins.
re-utilize navigation_launch file.

add new params file for multi-robot -> nav2_multirobot_params.yaml

Author: hyunseok-yang

nav2_bringup/launch/bringup_launch.py

@@ -42,6 +42,7 @@ def generate_launch_description():
     autostart = LaunchConfiguration('autostart')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
+    use_multirobot = LaunchConfiguration('use_multirobot')
     log_level = LaunchConfiguration('log_level')
 
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
@@ -104,6 +105,10 @@ def generate_launch_description():
         'use_respawn', default_value='False',
         description='Whether to respawn if a node crashes. Applied when composition is disabled.')
 
+    declare_use_multirobot_cmd = DeclareLaunchArgument(
+        'use_multirobot', default_value='False',
+        description='Whether to launch multi-robot. Applied a namespace in parameters file.')
+
     declare_log_level_cmd = DeclareLaunchArgument(
         'log_level', default_value='info',
         description='log level')
@@ -148,6 +153,18 @@ def generate_launch_description():
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
+            condition=IfCondition(PythonExpression(['not ', use_multirobot])),
+            launch_arguments={'namespace': namespace,
+                              'use_sim_time': use_sim_time,
+                              'autostart': autostart,
+                              'params_file': params_file,
+                              'use_composition': use_composition,
+                              'use_respawn': use_respawn,
+                              'container_name': 'nav2_container'}.items()),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'multirobot_navigation_launch.py')),
+            condition=IfCondition(PythonExpression(use_multirobot)),
             launch_arguments={'namespace': namespace,
                               'use_sim_time': use_sim_time,
                               'autostart': autostart,
@@ -173,6 +190,7 @@ def generate_launch_description():
     ld.add_action(declare_autostart_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_use_multirobot_cmd)
     ld.add_action(declare_log_level_cmd)
 
     # Add the actions to launch all of the navigation nodes

nav2_bringup/launch/multirobot_navigation_launch.py

@@ -0,0 +1,113 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from nav2_common.launch import ReplaceString
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    launch_dir = os.path.join(bringup_dir, 'launch')
+
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    params_file = LaunchConfiguration('params_file')
+    use_composition = LaunchConfiguration('use_composition')
+    container_name = LaunchConfiguration('container_name')
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
+
+    configured_multi_robot_params = ReplaceString(
+        source_file=params_file,
+        replacements={'<robot_namespace>': (namespace)})
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart', default_value='true',
+        description='Automatically startup the nav2 stack')
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition', default_value='False',
+        description='Use composed bringup if True')
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name', default_value='nav2_container',
+        description='the name of conatiner that nodes will load in if use composition')
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn', default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    bringup_cmd_group = GroupAction([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
+            launch_arguments={'namespace': namespace,
+                              'use_sim_time': use_sim_time,
+                              'autostart': autostart,
+                              'params_file': configured_multi_robot_params,
+                              'use_composition': use_composition,
+                              'use_respawn': use_respawn,
+                              'container_name': container_name,
+                              'log_level': log_level}.items())
+    ])
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Set environment variables
+    ld.add_action(stdout_linebuf_envvar)
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+
+    ld.add_action(bringup_cmd_group)
+
+    return ld