sl-controls
5d17b6c501
Add profile argument to nav2.launch.py to accept launch profile parameter and log profile selection for debugging/monitoring. Changes: - Add profile_arg declaration with choices (indoor/outdoor/demo) - Add profile substitution and log output - Update docstring with profile documentation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
77 lines
2.8 KiB
Python
77 lines
2.8 KiB
Python
"""
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nav2.launch.py — Nav2 autonomous navigation stack for SaltyBot
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Starts the full Nav2 navigation stack (controllers, planners, behavior server,
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BT navigator, velocity smoother, lifecycle managers).
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Localization is provided by RTAB-Map (slam_rtabmap.launch.py must be running):
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/map — OccupancyGrid (static global costmap layer)
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/rtabmap/odom — Odometry (velocity smoother + controller feedback)
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TF map→odom — published by RTAB-Map
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Output:
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/cmd_vel — consumed by saltybot_bridge → STM32 over UART
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Profile Support (Issue #506)
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────────────────────────────
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Supports profile-based parameter overrides via 'profile' launch argument:
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profile:=indoor — conservative (0.2 m/s, tight geofence, aggressive inflation)
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profile:=outdoor — moderate (0.5 m/s, wide geofence, standard inflation)
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profile:=demo — agile (0.3 m/s, tricks enabled, enhanced obstacle avoidance)
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Run sequence on Orin:
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1. docker compose up saltybot-ros2 # RTAB-Map + sensors
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2. docker compose up saltybot-nav2 # this launch file
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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nav2_bringup_dir = get_package_share_directory('nav2_bringup')
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bringup_dir = get_package_share_directory('saltybot_bringup')
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# Profile argument (Issue #506)
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profile_arg = DeclareLaunchArgument(
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"profile",
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default_value="indoor",
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choices=["indoor", "outdoor", "demo"],
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description="Launch profile for parameter overrides (Issue #506)"
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)
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profile = LaunchConfiguration('profile')
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nav2_params_file = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
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bt_xml_file = os.path.join(
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bringup_dir, 'behavior_trees', 'navigate_to_pose_with_recovery.xml'
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)
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nav2_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py')
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),
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launch_arguments={
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'use_sim_time': 'false',
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'autostart': 'true',
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'params_file': nav2_params_file,
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'default_bt_xml_filename': bt_xml_file,
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# RTAB-Map publishes /map with transient_local QoS — must match
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'map_subscribe_transient_local': 'true',
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}.items(),
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)
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profile_log = LogInfo(
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msg=['[nav2] Loaded profile: ', profile]
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)
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return LaunchDescription([
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profile_arg,
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profile_log,
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nav2_launch,
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])
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