Replace deprecated launch params (#1778)

* Update deprecated launch params

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Revert internal python changes

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

nav2_bringup/bringup/launch/localization_launch.py

@@ -82,24 +82,24 @@ def generate_launch_description():
 
         Node(
             package='nav2_map_server',
-            node_executable='map_server',
-            node_name='map_server',
+            executable='map_server',
+            name='map_server',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_amcl',
-            node_executable='amcl',
-            node_name='amcl',
+            executable='amcl',
+            name='amcl',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_lifecycle_manager',
-            node_executable='lifecycle_manager',
-            node_name='lifecycle_manager_localization',
+            executable='lifecycle_manager',
+            name='lifecycle_manager_localization',
             output='screen',
             parameters=[{'use_sim_time': use_sim_time},
                         {'autostart': autostart},

nav2_bringup/bringup/launch/navigation_launch.py

@@ -96,47 +96,47 @@ def generate_launch_description():
 
         Node(
             package='nav2_controller',
-            node_executable='controller_server',
+            executable='controller_server',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_planner',
-            node_executable='planner_server',
-            node_name='planner_server',
+            executable='planner_server',
+            name='planner_server',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_recoveries',
-            node_executable='recoveries_server',
-            node_name='recoveries_server',
+            executable='recoveries_server',
+            name='recoveries_server',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_bt_navigator',
-            node_executable='bt_navigator',
-            node_name='bt_navigator',
+            executable='bt_navigator',
+            name='bt_navigator',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_waypoint_follower',
-            node_executable='waypoint_follower',
-            node_name='waypoint_follower',
+            executable='waypoint_follower',
+            name='waypoint_follower',
             output='screen',
             parameters=[configured_params],
             remappings=remappings),
 
         Node(
             package='nav2_lifecycle_manager',
-            node_executable='lifecycle_manager',
-            node_name='lifecycle_manager_navigation',
+            executable='lifecycle_manager',
+            name='lifecycle_manager_navigation',
             output='screen',
             parameters=[{'use_sim_time': use_sim_time},
                         {'autostart': autostart},

nav2_bringup/bringup/launch/rviz_launch.py

@@ -56,8 +56,8 @@ def generate_launch_description():
     start_rviz_cmd = Node(
         condition=UnlessCondition(use_namespace),
         package='rviz2',
-        node_executable='rviz2',
-        node_name='rviz2',
+        executable='rviz2',
+        name='rviz2',
         arguments=['-d', rviz_config_file],
         output='screen')
 
@@ -68,9 +68,9 @@ def generate_launch_description():
     start_namespaced_rviz_cmd = Node(
         condition=IfCondition(use_namespace),
         package='rviz2',
-        node_executable='rviz2',
-        node_name='rviz2',
-        node_namespace=namespace,
+        executable='rviz2',
+        name='rviz2',
+        namespace=namespace,
         arguments=['-d', namespaced_rviz_config_file],
         output='screen',
         remappings=[('/tf', 'tf'),

nav2_bringup/bringup/launch/spawn_tb3_launch.py

@@ -24,7 +24,7 @@ def generate_launch_description():
         # TODO(orduno) might not be necessary to have it's own package
         launch_ros.actions.Node(
             package='nav2_gazebo_spawner',
-            node_executable='nav2_gazebo_spawner',
+            executable='nav2_gazebo_spawner',
             output='screen',
             arguments=[
                 '--robot_name', launch.substitutions.LaunchConfiguration('robot_name'),

nav2_bringup/bringup/launch/tb3_simulation_launch.py

@@ -144,9 +144,9 @@ def generate_launch_description():
     start_robot_state_publisher_cmd = Node(
         condition=IfCondition(use_robot_state_pub),
         package='robot_state_publisher',
-        node_executable='robot_state_publisher',
-        node_name='robot_state_publisher',
-        node_namespace=namespace,
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        namespace=namespace,
         output='screen',
         parameters=[{'use_sim_time': use_sim_time}],
         remappings=remappings,

nav2_costmap_2d/test/integration/costmap_tests_launch.py

@@ -32,8 +32,8 @@ def main(argv=sys.argv[1:]):
 
     lifecycle_manager = launch_ros.actions.Node(
         package='nav2_lifecycle_manager',
-        node_executable='lifecycle_manager',
-        node_name='lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager',
         output='screen',
         parameters=[{'node_names': ['map_server']}, {'autostart': True}])
 

nav2_costmap_2d/test/test_launch_files/costmap_map_server.launch.py

@@ -25,8 +25,8 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='nav2_map_server',
-            node_executable='map_server',
-            node_name='map_server',
+            executable='map_server',
+            name='map_server',
             output='screen',
             parameters=[{'yaml_filename': mapFile}])
     ])

nav2_map_server/launch/map_saver_server.launch.py

@@ -30,7 +30,7 @@ def generate_launch_description():
     # Nodes launching commands
     start_map_saver_server_cmd = launch_ros.actions.Node(
             package='nav2_map_server',
-            node_executable='map_saver_server',
+            executable='map_saver_server',
             output='screen',
             emulate_tty=True,  # https://github.com/ros2/launch/issues/188
             parameters=[{'save_map_timeout': save_map_timeout},
@@ -39,8 +39,8 @@ def generate_launch_description():
 
     start_lifecycle_manager_cmd = launch_ros.actions.Node(
             package='nav2_lifecycle_manager',
-            node_executable='lifecycle_manager',
-            node_name='lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager',
             output='screen',
             emulate_tty=True,  # https://github.com/ros2/launch/issues/188
             parameters=[{'use_sim_time': use_sim_time},

nav2_map_server/test/test_launch_files/map_saver_node.launch.py

@@ -28,7 +28,7 @@ def generate_launch_description():
 
     map_saver_server_cmd = launch_ros.actions.Node(
         package='nav2_map_server',
-        node_executable='map_saver_server',
+        executable='map_saver_server',
         output='screen',
         parameters=[os.path.join(os.getenv('TEST_DIR'),
                     'map_saver_params.yaml')])

nav2_map_server/test/test_launch_files/map_server_node.launch.py

@@ -24,7 +24,7 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='nav2_map_server',
-            node_executable='map_server',
+            executable='map_server',
             output='screen',
             parameters=[os.path.join(os.getenv('TEST_DIR'),
                         'map_server_params.yaml')])

nav2_system_tests/src/localization/test_localization_launch.py

@@ -35,28 +35,28 @@ def main(argv=sys.argv[1:]):
         output='screen')
     link_footprint = launch_ros.actions.Node(
         package='tf2_ros',
-        node_executable='static_transform_publisher',
+        executable='static_transform_publisher',
         output='screen',
         arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'])
     footprint_scan = launch_ros.actions.Node(
         package='tf2_ros',
-        node_executable='static_transform_publisher',
+        executable='static_transform_publisher',
         output='screen',
         arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'])
     run_map_server = launch_ros.actions.Node(
         package='nav2_map_server',
-        node_executable='map_server',
-        node_name='map_server',
+        executable='map_server',
+        name='map_server',
         output='screen',
         parameters=[{'yaml_filename': mapFile}])
     run_amcl = launch_ros.actions.Node(
         package='nav2_amcl',
-        node_executable='amcl',
+        executable='amcl',
         output='screen')
     run_lifecycle_manager = launch_ros.actions.Node(
         package='nav2_lifecycle_manager',
-        node_executable='lifecycle_manager',
-        node_name='lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager',
         output='screen',
         parameters=[{'node_names': ['map_server', 'amcl']}, {'autostart': True}])
     ld = LaunchDescription([launch_gazebo, link_footprint, footprint_scan,

nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py

@@ -59,13 +59,13 @@ def generate_launch_description():
         #              using a local copy of TB3 urdf file
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
 
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
 

nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py

@@ -59,13 +59,13 @@ def generate_launch_description():
         #              using a local copy of TB3 urdf file
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
 
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
 

nav2_system_tests/src/system/test_multi_robot_launch.py

@@ -62,7 +62,7 @@ def generate_launch_description():
         spawn_robots_cmds.append(
             Node(
                 package='nav2_gazebo_spawner',
-                node_executable='nav2_gazebo_spawner',
+                executable='nav2_gazebo_spawner',
                 output='screen',
                 arguments=[
                     '--robot_name', TextSubstitution(text=robot['name']),
@@ -79,8 +79,8 @@ def generate_launch_description():
         robot_state_pubs_cmds.append(
             Node(
                 package='robot_state_publisher',
-                node_executable='robot_state_publisher',
-                node_namespace=TextSubstitution(text=robot['name']),
+                executable='robot_state_publisher',
+                namespace=TextSubstitution(text=robot['name']),
                 output='screen',
                 parameters=[{'use_sim_time': 'True'}],
                 remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],

nav2_system_tests/src/system/test_system_launch.py

@@ -61,13 +61,13 @@ def generate_launch_description():
         #              using a local copy of TB3 urdf file
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
 
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
 

nav2_system_tests/src/updown/test_updown_launch.py

@@ -34,25 +34,25 @@ def generate_launch_description():
     # Specify the actions
     start_tf_cmd_1 = Node(
         package='tf2_ros',
-        node_executable='static_transform_publisher',
+        executable='static_transform_publisher',
         output='screen',
         arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'])
 
     start_tf_cmd_2 = Node(
         package='tf2_ros',
-        node_executable='static_transform_publisher',
+        executable='static_transform_publisher',
         output='screen',
         arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint'])
 
     start_tf_cmd_3 = Node(
        package='tf2_ros',
-       node_executable='static_transform_publisher',
+       executable='static_transform_publisher',
        output='screen',
        arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'])
 
     start_tf_cmd_4 = Node(
         package='tf2_ros',
-        node_executable='static_transform_publisher',
+        executable='static_transform_publisher',
         output='screen',
         arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'])
 

nav2_system_tests/src/waypoint_follower/test_case_py.launch

@@ -59,13 +59,13 @@ def generate_launch_description():
         #              using a local copy of TB3 urdf file
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
 
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),