added waypoint follower plugin node

ivogeorg · Sep 3, 2024 · 435d5f9 · 435d5f9
1 parent dc38322
commit 435d5f9
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Showing 2 changed files with 20 additions and 1 deletion.
diff --git a/path_planner_server/config/waypoint_follower.yaml b/path_planner_server/config/waypoint_follower.yaml
@@ -0,0 +1,9 @@
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
diff --git a/path_planner_server/launch/navigation.launch.py b/path_planner_server/launch/navigation.launch.py
@@ -22,6 +22,8 @@ def generate_launch_description():
         'map_server'), 'maps', 'map.yaml')
     rviz_config_file_path = os.path.join(get_package_share_directory(
         'path_planner_server'), 'rviz_config', 'pathplanning.rviz')
+    waypoint_follower_yaml = os.path.join(get_package_share_directory(
+        'path_planner_server'), 'config', 'waypoint_follower.yaml')
 
     return LaunchDescription([
         Node(
@@ -76,6 +78,13 @@ def generate_launch_description():
             parameters=[{'use_sim_time': True}],
             arguments=['-d', rviz_config_file_path]),
 
+        Node(
+            package='nav2_waypoint_follower',
+            executable='waypoint_follower',
+            name='waypoint_follower',
+            output='screen',
+            parameters=[waypoint_follower_yaml]),
+
         Node(
             package='nav2_lifecycle_manager',
             executable='lifecycle_manager',
@@ -87,5 +96,6 @@ def generate_launch_description():
                                         'controller_server',
                                         'planner_server',
                                         'recoveries_server',
-                                        'bt_navigator']}])
+                                        'bt_navigator',
+                                        'waypoint_follower']}])
     ])