Update the SLAM launch file so it works with the latest version of sl…

…am_toolbox. Rather than re-impementing all of the launch file, just include the online_sync or online_async launch files as appropriate

turtlebot4_navigation/launch/slam.launch.py

@@ -18,14 +18,22 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.actions import (
+    DeclareLaunchArgument,
+    GroupAction,
+    IncludeLaunchDescription,
+    OpaqueFunction
+)
 from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 
-from launch_ros.actions import Node, PushRosNamespace
+from launch_ros.actions import Node, PushRosNamespace, SetRemap
 
 from nav2_common.launch import RewrittenYaml
 
+pkg_turtlebot4_navigation = get_package_share_directory('turtlebot4_navigation')
+pkg_slam_toolbox = get_package_share_directory('slam_toolbox')
 
 ARGUMENTS = [
     DeclareLaunchArgument('use_sim_time', default_value='false',
@@ -35,64 +43,72 @@
                           choices=['true', 'false'],
                           description='Use synchronous SLAM'),
     DeclareLaunchArgument('namespace', default_value='',
-                          description='Robot namespace')
+                          description='Robot namespace'),
+    DeclareLaunchArgument('autostart', default_value='true',
+                          choices=['true', 'false'],
+                          description='Automatically startup the slamtoolbox. Ignored when use_lifecycle_manager is true.'),
+    DeclareLaunchArgument('use_lifecycle_manager', default_value='false',
+                          choices=['true', 'false'],
+                          description='Enable bond connection during node activation'),
+    DeclareLaunchArgument('params',
+                          default_value=PathJoinSubstitution([pkg_turtlebot4_navigation, 'config', 'slam.yaml']),
+                          description='Path to the SLAM Toolbox configuration file')
 ]
 
 
-def generate_launch_description():
-    pkg_turtlebot4_navigation = get_package_share_directory('turtlebot4_navigation')
-
+def launch_setup(context, *args, **kwargs):
     namespace = LaunchConfiguration('namespace')
     sync = LaunchConfiguration('sync')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    use_lifecycle_manager = LaunchConfiguration('use_lifecycle_manager')
+    slam_params = LaunchConfiguration('params')
 
-    slam_params_arg = DeclareLaunchArgument(
-        'params',
-        default_value=PathJoinSubstitution(
-            [pkg_turtlebot4_navigation, 'config', 'slam.yaml']),
-        description='Robot namespace')
-
-    slam_params = RewrittenYaml(
-        source_file=LaunchConfiguration('params'),
-        root_key=namespace,
-        param_rewrites={},
-        convert_types=True
-    )
-
-    remappings = [
-        ('/tf', 'tf'),
-        ('/tf_static', 'tf_static'),
-        ('/scan', 'scan'),
-        ('/map', 'map'),
-        ('/map_metadata', 'map_metadata'),
-    ]
+    namespace_str = namespace.perform(context)
+    if (namespace_str and not namespace_str.startswith('/')):
+        namespace_str = '/' + namespace_str
+
+    launch_slam_sync = PathJoinSubstitution(
+        [pkg_slam_toolbox, 'launch', 'online_sync_launch.py'])
+
+    launch_slam_async = PathJoinSubstitution(
+        [pkg_slam_toolbox, 'launch', 'online_async_launch.py'])
 
     slam = GroupAction([
         PushRosNamespace(namespace),
 
-        Node(package='slam_toolbox',
-             executable='sync_slam_toolbox_node',
-             name='slam_toolbox',
-             output='screen',
-             parameters=[
-               slam_params,
-               {'use_sim_time': LaunchConfiguration('use_sim_time')}
-             ],
-             remappings=remappings,
-             condition=IfCondition(sync)),
-
-        Node(package='slam_toolbox',
-             executable='async_slam_toolbox_node',
-             name='slam_toolbox',
-             output='screen',
-             parameters=[
-               slam_params,
-               {'use_sim_time': LaunchConfiguration('use_sim_time')}
-             ],
-             remappings=remappings,
-             condition=UnlessCondition(sync))
+        SetRemap('/tf', namespace_str + '/tf'),
+        SetRemap('/tf_static', namespace_str + '/tf_static'),
+        SetRemap('/scan', namespace_str + '/scan'),
+        SetRemap('/map', namespace_str + '/map'),
+        SetRemap('/map_metadata', namespace_str + '/map_metadata'),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_slam_sync),
+            launch_arguments = [
+                ('use_sim_time', use_sim_time),
+                ('autostart', autostart),
+                ('use_lifecycle_manager', use_lifecycle_manager),
+                ('slam_params_file', slam_params)
+            ],
+            condition=IfCondition(sync)
+        ),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_slam_async),
+            launch_arguments = [
+                ('use_sim_time', use_sim_time),
+                ('autostart', autostart),
+                ('use_lifecycle_manager', use_lifecycle_manager),
+                ('slam_params_file', slam_params)
+            ],
+            condition=UnlessCondition(sync)
+        )
     ])
 
+    return [slam]
+
+def generate_launch_description():
     ld = LaunchDescription(ARGUMENTS)
-    ld.add_action(slam_params_arg)
-    ld.add_action(slam)
+    ld.add_action(OpaqueFunction(function=launch_setup))
     return ld