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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,15 +1,162 @@ | ||
| mvsim ROS node | ||
| Use from ROS | ||
| =================== | ||
|
|
||
| This page describes the ROS 1 and ROS 2 node for MVSim, which | ||
| is an executable named `mvsim_node` that is shipped with the | ||
| ROS package named `mvsim`. | ||
| MVSim comes with a ROS 1 and ROS 2 **node** (an executable named `mvsim_node`), | ||
| which is shipped with the **ROS package** named `mvsim`. | ||
|
|
||
| .. note:: | ||
| You can also use the cli application ``mvsim`` if you want to test or run your world without launching a whole ROS system. | ||
| See :ref:`mvsim cli`. | ||
|
|
||
|
|
||
| Generic launch file | ||
| ------------------------- | ||
| This launch file can be used to launch a simulated world integrated with ROS from the command line, | ||
| or can be also included into your own launch file by setting its **ROS launch arguments**. | ||
|
|
||
| Write me! | ||
| | | ||
| Basic usage from the command line | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
|
|
||
| .. tab-set:: | ||
| .. tab-item:: ROS 1 | ||
|
|
||
| .. code-block:: bash | ||
| roslaunch mvsim launch_world.launch \ | ||
| world_file:=/path/to/your/my.world.xml \ | ||
| headless:=True | ||
| .. tab-item:: ROS 2 | ||
| :selected: | ||
|
|
||
| .. code-block:: bash | ||
| ros2 launch mvsim launch_world.launch.py \ | ||
| world_file:=/path/to/your/my.world.xml \ | ||
| headless:=True | ||
| | | ||
| All launch parameters | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| All these parameters apply to both, ROS 1 and ROS 2 launch files above: | ||
|
|
||
| .. code-block:: bash | ||
| $ ros2 launch mvsim launch_world.launch.py --show-args | ||
| Arguments (pass arguments as '<name>:=<value>'): | ||
| 'world_file': | ||
| Path to the *.world.xml file to load | ||
| 'headless': | ||
| no description given | ||
| (default: 'False') | ||
| 'do_fake_localization': | ||
| publish fake identity tf "map" -> "odom" | ||
| (default: 'True') | ||
| 'publish_tf_odom2baselink': | ||
| publish tf "odom" -> "base_link" | ||
| (default: 'True') | ||
| 'force_publish_vehicle_namespace': | ||
| Use vehicle name namespace even if there is only one vehicle | ||
| (default: 'False') | ||
| 'use_rviz': | ||
| Whether to launch RViz2 | ||
| (default: 'True') | ||
| 'rviz_config_file': | ||
| If use_rviz:="True", the configuration file for rviz | ||
| (default: '') | ||
| | | ||
| How to include it into your own launch | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| You can use this code to bootstrap your own launch files: | ||
| .. tab-set:: | ||
| .. tab-item:: ROS 1 | ||
| .. code-block:: xml | ||
| <launch> | ||
| <!-- Arguments --> | ||
| <arg name="world_file" default="$(find my_package)/mvsim/demo.world.xml" /> | ||
| <arg name="headless" default="False" /> | ||
| <arg name="do_fake_localization" default="True" /> | ||
| <arg name="publish_tf_odom2baselink" default="True" /> | ||
| <arg name="force_publish_vehicle_namespace" default="False" /> | ||
| <arg name="use_rviz" default="True" /> | ||
| <arg name="rviz_config_file" default="$(find mvsim)/mvsim_tutorial/demo_depth_camera.rviz" /> | ||
| <!-- Include the original launch file --> | ||
| <include file="$(find mvsim)/launch/launch_world.launch"> | ||
| <arg name="world_file" value="$(arg world_file)" /> | ||
| <arg name="headless" value="$(arg headless)" /> | ||
| <arg name="do_fake_localization" value="$(arg do_fake_localization)" /> | ||
| <arg name="publish_tf_odom2baselink" value="$(arg publish_tf_odom2baselink)" /> | ||
| <arg name="force_publish_vehicle_namespace" value="$(arg force_publish_vehicle_namespace)" /> | ||
| <arg name="use_rviz" value="$(arg use_rviz)" /> | ||
| <arg name="rviz_config_file" value="$(arg rviz_config_file)" /> | ||
| </include> | ||
| </launch> | ||
| .. tab-item:: ROS 2 | ||
| :selected: | ||
| .. code-block:: python | ||
| import os | ||
| from launch import LaunchDescription | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from ament_index_python.packages import get_package_share_directory | ||
| def generate_launch_description(): | ||
| # *** REMEMBER: Change this to your actual world file *** | ||
| world_file = os.path.join( | ||
| get_package_share_directory('my_package'), 'mvsim', 'demo.world.xml') | ||
| # and replace this RViz file with yours as needed: | ||
| rviz_config_file = os.path.join( | ||
| get_package_share_directory('mvsim'), 'mvsim_tutorial', 'demo_depth_camera_ros2.rviz') | ||
| headless = 'False' | ||
| do_fake_localization = 'True' | ||
| publish_tf_odom2baselink = 'True' | ||
| force_publish_vehicle_namespace = 'False' | ||
| use_rviz = 'True' | ||
| # Create LaunchDescription | ||
| ld = LaunchDescription() | ||
| # Add actions to LaunchDescription | ||
| ld.add_action(IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(get_package_share_directory('mvsim'), 'launch', 'launch_world.launch.py') | ||
| ), | ||
| launch_arguments={ | ||
| 'world_file': world_file, | ||
| 'headless': headless, | ||
| 'do_fake_localization': do_fake_localization, | ||
| 'publish_tf_odom2baselink': publish_tf_odom2baselink, | ||
| 'force_publish_vehicle_namespace': force_publish_vehicle_namespace, | ||
| 'use_rviz': use_rviz, | ||
| 'rviz_config_file': rviz_config_file | ||
| }.items() | ||
| )) | ||
| return ld | ||
| | |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| <!-- Generic ROS1 launch file --> | ||
| <!-- Read: https://mvsimulator.readthedocs.io/en/latest/mvsim_node.html --> | ||
|
|
||
| <launch> | ||
| <!-- Arguments --> | ||
| <arg name="world_file" /> | ||
| <arg name="headless" default="False" /> | ||
| <arg name="do_fake_localization" default="True" /> | ||
| <arg name="publish_tf_odom2baselink" default="True" /> | ||
| <arg name="force_publish_vehicle_namespace" default="False" /> | ||
| <arg name="use_rviz" default="True" /> | ||
| <arg name="rviz_config_file" default="$(find mvsim)/mvsim_tutorial/demo_depth_camera.rviz" /> | ||
|
|
||
| <!-- mvsim Node --> | ||
| <node pkg="mvsim" type="mvsim_node" name="mvsim" output="screen"> | ||
| <param name="world_file" value="$(arg world_file)"/> | ||
| <param name="headless" value="$(arg headless)"/> | ||
| <param name="do_fake_localization" value="$(arg do_fake_localization)"/> | ||
| <param name="publish_tf_odom2baselink" value="$(arg publish_tf_odom2baselink)"/> | ||
| <param name="force_publish_vehicle_namespace" value="$(arg force_publish_vehicle_namespace)"/> | ||
| </node> | ||
|
|
||
| <!-- RViz Node (conditional launch based on use_rviz argument) --> | ||
| <group if="$(arg use_rviz)"> | ||
| <node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_config_file)"/> | ||
| </group> | ||
| </launch> |
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| # Generic ROS2 launch file | ||
| # Read: https://mvsimulator.readthedocs.io/en/latest/mvsim_node.html | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.conditions import IfCondition | ||
| import os | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
|
|
||
| # args that can be set from the command line or a default will be used | ||
| world_file_launch_arg = DeclareLaunchArgument( | ||
| "world_file", description='Path to the *.world.xml file to load') | ||
|
|
||
| headless_launch_arg = DeclareLaunchArgument( | ||
| "headless", default_value='False') | ||
|
|
||
| do_fake_localization_arg = DeclareLaunchArgument( | ||
| "do_fake_localization", default_value='True', description='publish fake identity tf "map" -> "odom"') | ||
|
|
||
| publish_tf_odom2baselink_arg = DeclareLaunchArgument( | ||
| "publish_tf_odom2baselink", default_value='True', description='publish tf "odom" -> "base_link"') | ||
|
|
||
| force_publish_vehicle_namespace_arg = DeclareLaunchArgument( | ||
| "force_publish_vehicle_namespace", default_value='False', | ||
| description='Use vehicle name namespace even if there is only one vehicle') | ||
|
|
||
| use_rviz_arg = DeclareLaunchArgument( | ||
| 'use_rviz', default_value='True', | ||
| description='Whether to launch RViz2' | ||
| ) | ||
|
|
||
| rviz_config_file_arg = DeclareLaunchArgument( | ||
| 'rviz_config_file', default_value='', | ||
| description='If use_rviz:="True", the configuration file for rviz' | ||
| ) | ||
|
|
||
| mvsim_node = Node( | ||
| package='mvsim', | ||
| executable='mvsim_node', | ||
| name='mvsim', | ||
| output='screen', | ||
| parameters=[ | ||
| { | ||
| "world_file": LaunchConfiguration('world_file'), | ||
| "headless": LaunchConfiguration('headless'), | ||
| "do_fake_localization": LaunchConfiguration('do_fake_localization'), | ||
| "publish_tf_odom2baselink": LaunchConfiguration('publish_tf_odom2baselink'), | ||
| "force_publish_vehicle_namespace": LaunchConfiguration('force_publish_vehicle_namespace'), | ||
| }] | ||
| ) | ||
|
|
||
| rviz2_node = Node( | ||
| condition=IfCondition(LaunchConfiguration('use_rviz')), | ||
| package='rviz2', | ||
| executable='rviz2', | ||
| name='rviz2', | ||
| arguments=[] if LaunchConfiguration('rviz_config_file') == '' else [ | ||
| '-d', LaunchConfiguration('rviz_config_file')] | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| world_file_launch_arg, | ||
| headless_launch_arg, | ||
| do_fake_localization_arg, | ||
| publish_tf_odom2baselink_arg, | ||
| force_publish_vehicle_namespace_arg, | ||
| use_rviz_arg, | ||
| rviz_config_file_arg, | ||
| mvsim_node, | ||
| rviz2_node | ||
| ]) |
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