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Merged
merged 2 commits into from
Sep 11, 2023
Merged

Using Simple Commander API for multi robot systems #3803

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55d241d
support multirobot namespaces
SteveMacenski Sep 11, 2023
cddbde9
add docs
SteveMacenski Sep 11, 2023
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2 changes: 2 additions & 0 deletions nav2_simple_commander/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@ See its [API Guide Page](https://navigation.ros.org/commander_api/index.html) fo

The methods provided by the basic navigator are shown below, with inputs and expected returns. If a server fails, it may throw an exception or return a `None` object, so please be sure to properly wrap your navigation calls in try/catch and check results for `None` type.

New as of September 2023: the simple navigator constructor will accept a `namespace` field to support multi-robot applications or namespaced Nav2 launches.

| Robot Navigator Method | Description |
| --------------------------------- | -------------------------------------------------------------------------- |
| setInitialPose(initial_pose) | Sets the initial pose (`PoseStamped`) of the robot to localization. |
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14 changes: 7 additions & 7 deletions nav2_simple_commander/nav2_simple_commander/robot_navigator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ class TaskResult(Enum):

class BasicNavigator(Node):

def __init__(self, node_name='basic_navigator'):
super().__init__(node_name=node_name)
def __init__(self, node_name='basic_navigator', namespace=''):
super().__init__(node_name=node_name, namespace=namespace)
self.initial_pose = PoseStamped()
self.initial_pose.header.frame_id = 'map'
self.goal_handle = None
Expand Down Expand Up @@ -83,13 +83,13 @@ def __init__(self, node_name='basic_navigator'):
self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped,
'initialpose',
10)
self.change_maps_srv = self.create_client(LoadMap, '/map_server/load_map')
self.change_maps_srv = self.create_client(LoadMap, 'map_server/load_map')
self.clear_costmap_global_srv = self.create_client(
ClearEntireCostmap, '/global_costmap/clear_entirely_global_costmap')
ClearEntireCostmap, 'global_costmap/clear_entirely_global_costmap')
self.clear_costmap_local_srv = self.create_client(
ClearEntireCostmap, '/local_costmap/clear_entirely_local_costmap')
self.get_costmap_global_srv = self.create_client(GetCostmap, '/global_costmap/get_costmap')
self.get_costmap_local_srv = self.create_client(GetCostmap, '/local_costmap/get_costmap')
ClearEntireCostmap, 'local_costmap/clear_entirely_local_costmap')
self.get_costmap_global_srv = self.create_client(GetCostmap, 'global_costmap/get_costmap')
self.get_costmap_local_srv = self.create_client(GetCostmap, 'local_costmap/get_costmap')

def destroyNode(self):
self.destroy_node()
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