Port to humble

README.md

@@ -13,20 +13,15 @@ The map is created using SLAM with the package [Google Cartographer](https://git
 
 ## Installation (tested on Ubuntu 20.04 - ROS 2 Foxy)
 
-[Install ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html)
+[Install ROS2 Humble](https://docs.ros.org/en/humble/Installation/Linux-Install-Debians.html)
 
 Don't forget to install colcon:
 ```
 sudo apt install python3-colcon-common-extensions
 ```
 Install Gazebo:
 ```
-curl -sSL http://get.gazebosim.org | sh
-```
-Install packages:
-```
-sudo apt install ros-foxy-gazebo-ros-pkgs ros-foxy-cartographer ros-foxy-cartographer-ros ros-foxy-navigation2 ros-foxy-nav2-bringup
-sudo apt install ros-foxy-turtlebot3-msgs ros-foxy-dynamixel-sdk ros-foxy-hls-lfcd-lds-driver
+sudo apt install gazebo
 ```
 Install Python libraries:
 ```
@@ -42,30 +37,26 @@ Clone the repository:
 ```
 git clone https://github.com/DaniGarciaLopez/ros2_explorer.git
 ```
-Clone turtlebot original repository to have additional utilities:
+Compile packages and get dependencies:
 ```
-git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
-git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+cd ~/turtlebot3_ws/src
+sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
+
+cd ~/turtlebot3_ws/
+colcon build
 ```
 Include following lines in ~/.bashrc:
 ```
-source /opt/ros/foxy/setup.bash
-source /usr/share/colcon_cd/function/colcon_cd.sh
-export _colcon_cd_root=~/turtlebot3_ws
-source ~/turtlebot3_ws/install/setup.bash
+source /opt/ros/humble/local_setup.bash
+source ~/turtlebot3_ws/install/local_setup.bash
 
 export TURTLEBOT3_MODEL=burger
 export GAZEBO_MODEL_PATH=~/turtlebot3_ws/src/ros2_explorer/explorer_gazebo/models
 ```
-Compile packages:
-```
-cd ~/turtlebot3_ws/
-colcon build
-```
 ## How to run
 Execute the launch file of the map you want to use (Opens Gazebo simulation, Rviz, Cartographer, Nav2 and exploration servers):
 ```
-ros2 launch explorer_bringup map10.launch.py
+ros2 launch explorer_bringup explorer.launch.py map_name:=map10
 ```
 Execute manager node and select exploring algorithm:
 ```

explorer_bringup/launch/explorer.launch.py

@@ -0,0 +1,115 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+def launch_setup(context, *args, **kwargs):
+
+    map_name = LaunchConfiguration('map_name', default='map10')
+    world_file_name = map_name.perform(context) + '.world.xml'
+    world = os.path.join(get_package_share_directory('explorer_gazebo'), 'worlds', world_file_name)
+
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+    nav2_file_dir = get_package_share_directory('turtlebot3_navigation2')
+    gazebo_launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    cartographer_launch_file_dir = os.path.join(get_package_share_directory('explorer_cartographer'), 'launch')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='2.0')
+    y_pose = LaunchConfiguration('y_pose', default='3.0')
+
+    param_file_name = TURTLEBOT3_MODEL + '.yaml'
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(gazebo_launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(gazebo_launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    cartographer_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(cartographer_launch_file_dir, 'cartographer.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items(),
+    )
+
+    nav2_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('nav2_bringup'), 'launch', 'bringup_launch.py')
+        ),
+        launch_arguments={
+            'map': os.path.join(nav2_file_dir, 'map', 'map.yaml'),
+            'use_sim_time': use_sim_time,
+            'params_file': os.path.join(nav2_file_dir, 'param', param_file_name)}.items(),
+    )
+
+    wanderer_cmd = Node(
+        package='explorer_wanderer',
+        executable='wanderer_server',
+        name='wanderer_server',
+        output='screen',
+    )
+
+    discoverer_cmd = Node(
+        package='explorer_wanderer',
+        executable='discoverer_server',
+        name='discoverer_server',
+        output='screen',
+    )
+
+    watchtower_cmd = Node(
+        package='explorer_map_utils',
+        executable='watchtower',
+        name='watchtower',
+        output='screen',
+        parameters=[{'map_name': map_name}],
+    )
+
+    return [
+        gzserver_cmd,
+        gzclient_cmd,
+        robot_state_publisher_cmd,
+        spawn_turtlebot_cmd,
+        cartographer_cmd,
+        nav2_cmd,
+        wanderer_cmd,
+        discoverer_cmd,
+        watchtower_cmd,
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])