Use SetParameter Launch API to set the yaml filename for map_server (r…

…os-navigation#3174)

* implement launch priority for the mapserver parameter yaml_filename

minor fix

fix commit

reincluded rewritten function

comment remaining lines for yaml_filename

removed default_value

issue with composable node

alternative soltion to the condition param not working in composable node

remove unused import

remove comments and reorder composablenode execution

fixing commit

fixing format

fixing lint

Update nav2_bringup/params/nav2_params.yaml

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* state new ros-rolling release changes and deprecation

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

nav2_bringup/launch/bringup_launch.py

@@ -53,14 +53,10 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'yaml_filename': map_yaml_file}
-
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key=namespace,
-        param_rewrites=param_substitutions,
+        param_rewrites={},
         convert_types=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
@@ -83,6 +79,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
+        default_value='',
         description='Full path to map yaml file to load')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(

nav2_bringup/launch/localization_launch.py

@@ -17,8 +17,11 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.actions import SetEnvironmentVariable
 from launch.conditions import IfCondition
+from launch.conditions import LaunchConfigurationEquals
+from launch.conditions import LaunchConfigurationNotEquals
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import LoadComposableNodes, SetParameter
 from launch_ros.actions import Node
@@ -51,14 +54,10 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'yaml_filename': map_yaml_file}
-
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key=namespace,
-        param_rewrites=param_substitutions,
+        param_rewrites={},
         convert_types=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
@@ -71,6 +70,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
+        default_value='',
         description='Full path to map yaml file to load')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
@@ -108,6 +108,7 @@ def generate_launch_description():
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             Node(
+                condition=LaunchConfigurationEquals('map', ''),
                 package='nav2_map_server',
                 executable='map_server',
                 name='map_server',
@@ -117,6 +118,18 @@ def generate_launch_description():
                 parameters=[configured_params],
                 arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
+            Node(
+                condition=LaunchConfigurationNotEquals('map', ''),
+                package='nav2_map_server',
+                executable='map_server',
+                name='map_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params,
+                            {'yaml_filename': map_yaml_file}],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
             Node(
                 package='nav2_amcl',
                 executable='amcl',
@@ -137,20 +150,49 @@ def generate_launch_description():
                             {'node_names': lifecycle_nodes}])
         ]
     )
-
+    # LoadComposableNode for map server twice depending if we should use the
+    # value of map from a CLI or launch default or user defined value in the
+    # yaml configuration file. They are separated since the conditions
+    # currently only work on the LoadComposableNodes commands and not on the
+    # ComposableNode node function itself
+    # EqualsSubstitution and NotEqualsSubstitution susbsitutions was recently
+    # added to solve this problem but it has not been ported yet to
+    # ros-rolling. See https://github.com/ros2/launch_ros/issues/328.
+    # LaunchConfigurationEquals and LaunchConfigurationNotEquals are scheduled
+    # for deprecation once a Rolling sync is conducted. Switching to this new
+    # would be required for both ComposableNode and normal nodes.
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             LoadComposableNodes(
                 target_container=container_name,
+                condition=LaunchConfigurationEquals('map', ''),
                 composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_map_server',
                         plugin='nav2_map_server::MapServer',
                         name='map_server',
                         parameters=[configured_params],
                         remappings=remappings),
+                ],
+            ),
+            LoadComposableNodes(
+                target_container=container_name,
+                condition=LaunchConfigurationNotEquals('map', ''),
+                composable_node_descriptions=[
+                    ComposableNode(
+                        package='nav2_map_server',
+                        plugin='nav2_map_server::MapServer',
+                        name='map_server',
+                        parameters=[configured_params,
+                                    {'yaml_filename': map_yaml_file}],
+                        remappings=remappings),
+                ],
+            ),
+            LoadComposableNodes(
+                target_container=container_name,
+                composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_amcl',
                         plugin='nav2_amcl::AmclNode',

nav2_bringup/params/nav2_params.yaml

@@ -243,11 +243,12 @@ global_costmap:
         inflation_radius: 0.55
       always_send_full_costmap: True
 
-map_server:
-  ros__parameters:
-    # Overridden in launch by the "map" launch configuration or provided default value.
-    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
-    yaml_filename: ""
+# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
+# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
+# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
+# map_server:
+#   ros__parameters:
+#     yaml_filename: ""
 
 map_saver:
   ros__parameters: