update nav2 launch

locker98_tools_bringup/CMakeLists.txt

@@ -7,20 +7,10 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
 
-if(BUILD_TESTING)
+install(
-  find_package(ament_lint_auto REQUIRED)
+  DIRECTORY launch rviz worlds
-  # the following line skips the linter which checks for copyrights
+  DESTINATION share/${PROJECT_NAME}/
-  # comment the line when a copyright and license is added to all source files
+)
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
 
 ament_package()

locker98_tools_bringup/launch/nav2.launch.py

@@ -0,0 +1,50 @@
+from launch import LaunchDescription
+import os
+from ament_index_python import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+
+def generate_launch_description():
+
+    # Declare the arguments
+    use_sim_time = LaunchConfiguration('use_sim_time', default='False')
+    map = LaunchConfiguration('map')
+
+    # Define RViz config path
+    rviz_config_path = os.path.join(
+        get_package_share_directory('locker98_tools_bringup'),
+        'rviz', 'nav2_config.rviz'
+    )
+
+    # Include the bringup launch file
+    bringup_launch_file = os.path.join(
+        get_package_share_directory('nav2_bringup'),
+        'launch', 'bringup_launch.py'
+    )
+
+    # Include the bringup launch file and pass arguments
+    include_bringup = IncludeLaunchDescription(
+        bringup_launch_file,
+        launch_arguments={
+            'use_sim_time': use_sim_time,
+            'map': map
+        }.items()
+    )
+
+    # RViz node
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config_path]
+    )
+
+    # Return LaunchDescription
+    return LaunchDescription([
+        DeclareLaunchArgument('use_sim_time', default_value='False', description='Use simulation time'),
+        DeclareLaunchArgument('map', default_value='', description='Map input'),
+        include_bringup,
+        rviz2_node
+    ])

locker98_tools_bringup/launch/nav2.launch.xml

@@ -1 +0,0 @@
- 

locker98_tools_bringup/launch/slam.launch.xml

@@ -1 +1,12 @@
+<launch>
+    <arg name="use_sim_time" default="False" />
+    <arg name="map"/>
 
+    <include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py">
+        <arg name="map" value="$(arg map)"/>
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    </include>
+
+    <!--<node pkg="rviz2" executable="rviz2" output="screen"  args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
+    -->
+</launch>

locker98_tools_bringup/package.xml

@@ -9,6 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   
+
+  <exec_depend>my_robot1_description</exec_depend>
+
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

locker98_tools_bringup/rviz/my_map.yaml

@@ -0,0 +1,7 @@
+image: my_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-3.25, -3.99, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25