Integrate Beluga, Nav2 and TurtleBot 3 #7
Conversation
Signed-off-by: Alon Druck <alon.druck@ekumenlabs.com>
Signed-off-by: Alon Druck <alon.druck@ekumenlabs.com>
Signed-off-by: Alon Druck <alon.druck@ekumenlabs.com>
Signed-off-by: Alon Druck <alon.druck@ekumenlabs.com>
Signed-off-by: Alon Druck <alon.druck@ekumenlabs.com>
| @@ -0,0 +1,173 @@ | |||
| # Copyright 2024 Ekumen, Inc. | |||
There was a problem hiding this comment.
@Alondruck is beluga_demo_nav2_launch.py a duplicate of beluga_demo_nav2.launch.py?
There was a problem hiding this comment.
Apparently I forgot to delete beluga_demo_nav2.launch.py
| # limitations under the License. | ||
|
|
||
| """ | ||
| This is all-in-one launch script intended for use by nav2 developers. |
There was a problem hiding this comment.
@Alondruck is this inspired or a verbatim copy? Nav2 has its own copyrights and licenses we have to be mindful about.
There was a problem hiding this comment.
Yes, is a copy with some changes. What do I need to do is this cases?
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>beluga_demo_nav2</name> | ||
| <version>0.0.0</version> |
There was a problem hiding this comment.
@Alondruck nit: needs a version.
| collapsed: true | ||
| Width: 1545 | ||
| X: 186 | ||
| Y: 117 |
There was a problem hiding this comment.
@Alondruck meta: why two .rviz configurations?
There was a problem hiding this comment.
You right, I'll remove the nav2_namespaced_view.rviz file.
| @@ -0,0 +1,54 @@ | |||
| <?xml version="1.0"?> | |||
There was a problem hiding this comment.
@Alondruck meta: do we need all these things here when available upstream?
There was a problem hiding this comment.
I wanted to copy this file to avoid depending on updates from other repositories for this tutorial, since the only important thing here is the integration of beluga_amcl. I don't think we need to worry about updates to other resources in this tutorial, but I'm open to suggestions.
| # Add the actions to launch all of the navigation nodes | ||
| ld.add_action(load_composable_nodes) | ||
|
|
||
| return ld |
There was a problem hiding this comment.
@Alondruck meta: why not simplify the launchfiles hierarchy a bit? Do we need waypoint following support to show Beluga can successfully fill in for Nav2 AMCL?
There was a problem hiding this comment.
I agree that I can remove waypoint following from here. Anyway, I'm not too concerned about this file because the focus of the tutorial is on localization_launch.py where we configure to use beluga_amcl. The rest is literally a simplified copy of nav2 because it is assumed that if someone has reached this tutorial, they have previously completed the getting started tutorial for nav2.
Proposed changes
Related to Ekumen-OS/beluga#307. The idea is to create a package with all the necessary files to launch a simulation using Beluga and Nav2 on the TurtleBot 3.
Type of change
Checklist
Additional comments
This PR depends on issue #6 being resolved.