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Replace deprecated launch params #1778

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merged 2 commits into from
May 28, 2020
Merged

Replace deprecated launch params #1778

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063a3b7
Update deprecated launch params
naiveHobo May 28, 2020
1447e8a
Revert internal python changes
naiveHobo May 28, 2020
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12 changes: 6 additions & 6 deletions nav2_bringup/bringup/launch/localization_launch.py
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Expand Up @@ -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},
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22 changes: 11 additions & 11 deletions nav2_bringup/bringup/launch/navigation_launch.py
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Expand Up @@ -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},
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10 changes: 5 additions & 5 deletions nav2_bringup/bringup/launch/rviz_launch.py
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Expand Up @@ -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')

Expand All @@ -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'),
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2 changes: 1 addition & 1 deletion nav2_bringup/bringup/launch/spawn_tb3_launch.py
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Expand Up @@ -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'),
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6 changes: 3 additions & 3 deletions nav2_bringup/bringup/launch/tb3_simulation_launch.py
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Expand Up @@ -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,
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4 changes: 2 additions & 2 deletions nav2_costmap_2d/test/integration/costmap_tests_launch.py
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Expand Up @@ -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}])

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4 changes: 2 additions & 2 deletions nav2_costmap_2d/test/test_launch_files/costmap_map_server.launch.py
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Expand Up @@ -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}])
])
6 changes: 3 additions & 3 deletions nav2_map_server/launch/map_saver_server.launch.py
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Expand Up @@ -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},
Expand All @@ -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},
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2 changes: 1 addition & 1 deletion nav2_map_server/test/test_launch_files/map_saver_node.launch.py
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Expand Up @@ -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')])
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2 changes: 1 addition & 1 deletion nav2_map_server/test/test_launch_files/map_server_node.launch.py
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Expand Up @@ -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')])
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14 changes: 7 additions & 7 deletions nav2_system_tests/src/localization/test_localization_launch.py
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Expand Up @@ -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,
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4 changes: 2 additions & 2 deletions nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py
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Expand Up @@ -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']),

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4 changes: 2 additions & 2 deletions nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py
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Expand Up @@ -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']),

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6 changes: 3 additions & 3 deletions nav2_system_tests/src/system/test_multi_robot_launch.py
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Expand Up @@ -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']),
Expand All @@ -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')],
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4 changes: 2 additions & 2 deletions nav2_system_tests/src/system/test_system_launch.py
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Expand Up @@ -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']),

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8 changes: 4 additions & 4 deletions nav2_system_tests/src/updown/test_updown_launch.py
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Expand Up @@ -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'])

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4 changes: 2 additions & 2 deletions nav2_system_tests/src/waypoint_follower/test_case_py.launch
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Expand Up @@ -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']),

Expand Down