add 12_home

demo_cmakelists/12_home.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(home_pkg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+DIRECTORY
+  launch
+DESTINATION
+  share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

demo_launch/12_home.launch.py

@@ -0,0 +1,86 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('wpr_simulation2'), 'launch')
+    home_mani_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robocup_home_mani.launch.py')
+        )
+    )
+
+    map_file = os.path.join(
+        get_package_share_directory('wpr_simulation2'),
+        'maps',
+        'map.yaml'
+    )
+
+    nav_param_file = os.path.join(
+        get_package_share_directory('wpr_simulation2'),
+        'config',
+        'nav2_params.yaml'
+    )
+
+    nav2_launch_dir = os.path.join(
+        get_package_share_directory('nav2_bringup'),
+        'launch'
+    )
+
+    navigation_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([nav2_launch_dir, '/bringup_launch.py']),
+        launch_arguments={
+            'map': map_file,
+            'use_sim_time': "True",
+            'params_file': nav_param_file}.items(),
+    )
+
+    wp_edit_cmd = Node(
+        package='wp_map_tools',
+        executable='wp_edit_node',
+        name='wp_edit_node'
+    )
+
+    wp_navi_server_cmd = Node(
+        package='wp_map_tools',
+        executable='wp_navi_server',
+        name='wp_navi_server'
+    )
+
+    objects_publisher_cmd = Node(
+        package='wpr_simulation2',
+        executable='objects_publisher',
+        name='objects_publisher',
+        parameters=[
+            {"auto_start": False}
+        ]
+    )
+
+    grab_object_cmd = Node(
+        package='wpr_simulation2',
+        executable='grab_object_sim',
+        name='grab_object_sim'
+    )
+
+    rviz_file = os.path.join(get_package_share_directory('wpr_simulation2'), 'rviz', 'fetch.rviz')
+
+    rviz_cmd = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_file]
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(home_mani_cmd)
+    ld.add_action(navigation_cmd)
+    ld.add_action(wp_edit_cmd)
+    ld.add_action(wp_navi_server_cmd)
+    ld.add_action(objects_publisher_cmd)
+    ld.add_action(grab_object_cmd)
+    ld.add_action(rviz_cmd)
+    
+    return ld