create new package nav2_composition

nav2_composition/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(nav2_composition)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(nav2_map_server REQUIRED)
+find_package(nav2_amcl REQUIRED)
+find_package(nav2_controller REQUIRED)
+find_package(nav2_planner REQUIRED)
+find_package(nav2_recoveries REQUIRED)
+find_package(nav2_bt_navigator REQUIRED)
+find_package(nav2_waypoint_follower REQUIRED)
+find_package(nav2_lifecycle_manager REQUIRED)
+
+nav2_package()
+
+set(executable_name loc_and_nav)
+add_executable(${executable_name}
+  src/main.cpp
+)
+
+set(dependencies
+  rclcpp
+  nav2_map_server
+  nav2_amcl
+  nav2_controller
+  nav2_planner
+  nav2_recoveries
+  nav2_bt_navigator
+  nav2_waypoint_follower
+  nav2_lifecycle_manager
+)
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+
+install(TARGETS ${executable_name}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

nav2_composition/README.md

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+# nav2_compostion
+
+The `nav2_compistion` package is a composition-based bringup for Nav2, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints.
+
+### Pre-requisites:
+
+- [Install ROS 2](https://index.ros.org/doc/ros2/Installation/Dashing/)
+
+- Install Nav2
+
+  `sudo apt install ros-<ros2_distro>-navigation2`
+
+- Install Nav2 Bringup
+
+  `sudo apt install ros-<ros2_distro>-nav2-bringup`
+
+- Install your robot specific package (ex:[Turtlebot 3](http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/))
+
+## Launch Nav2 in *Simulation* with Gazebo
+
+refer to package `nav2_bringup`,  there is only difference when you run `Terminal 3: Launch Nav2` , which just replaces `bringup_launch.py` with  `compostion_bringup_launch.py`.
+
+```bash
+source /opt/ros/dashing/setup.bash
+ros2 launch nav2_compostion compostion_bringup_launch.py use_sim_time:=True autostart:=True \
+map:=<full/path/to/map.yaml>
+```
+
+### Advanced: single-terminal launch
+
+A convenience file is provided to launch Gazebo, RVIZ and Nav2 using a single command:
+
+```bash
+ros2 launch nav2_compostion tb3_simulation_launch.py
+```
+
+
+

nav2_composition/launch/composition_bringup_launch.py

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+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+
+    namespace = LaunchConfiguration('namespace')
+    map_yaml_file = LaunchConfiguration('map')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    params_file = LaunchConfiguration('params_file')
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    # TODO(orduno) Substitute with `PushNodeRemapping`
+    #              https://github.com/ros2/launch_ros/issues/56
+    remappings = [('/tf', 'tf'),
+                  ('/tf_static', 'tf_static')]
+
+    # Create our own temporary YAML files that include substitutions
+    param_substitutions = {
+        'yaml_filename': map_yaml_file,
+        'use_sim_time': use_sim_time,
+        'autostart': autostart}
+
+    configured_params = RewrittenYaml(
+        source_file=params_file,
+        root_key=namespace,
+        param_rewrites=param_substitutions,
+        convert_types=True)
+
+    return LaunchDescription([
+        # Set env var to print messages to stdout immediately
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+
+        DeclareLaunchArgument(
+            'namespace', default_value='',
+            description='Top-level namespace'),
+
+        DeclareLaunchArgument(
+            'map',
+            default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+            description='Full path to map yaml file to load'),
+
+        DeclareLaunchArgument(
+            'use_sim_time', default_value='false',
+            description='Use simulation (Gazebo) clock if true'),
+
+        DeclareLaunchArgument(
+            'autostart', default_value='true',
+            description='Automatically startup the nav2 stack'),
+
+        DeclareLaunchArgument(
+            'params_file',
+            default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+            description='Full path to the ROS2 parameters file to use'),
+
+        Node(
+            package='nav2_composition',
+            executable='loc_and_nav',
+            output='screen',
+            parameters=[configured_params,
+                        {'use_sim_time': use_sim_time},
+                        {'autostart': autostart}],
+            remappings=remappings)
+    ])