Make it possible to switch TF/TF_static publishing for micom from clo…

…isim_ros_bringup

cloisim_ros_base/src/base.cpp

@@ -52,6 +52,7 @@ Base::Base(const string node_name, const string namespace_, const rclcpp::NodeOp
     , m_node_handle(shared_ptr<rclcpp::Node>(this, [](auto) {}))
     , m_static_tf_broadcaster(nullptr)
     , m_tf_broadcaster(nullptr)
+    , enable_tf_publish_(true)
 {
   get_parameter_or("enable_tf", enable_tf_publish_, bool(true));
 }
@@ -75,7 +76,7 @@ void Base::Start(const bool enable_tf_publish)
 
   Initialize();
 
-  DBG_SIM_MSG("enable_tf(%d)", enable_tf_publish_);
+  DBG_SIM_MSG("node(%s) enable_tf(%d)", get_name(), enable_tf_publish_);
 
   auto callback_static_tf_pub = [this]() -> void
   {

cloisim_ros_bringup/README.md

@@ -64,3 +64,12 @@ Specify target model from simulation
 ```shell
 ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=True target_model:=cloi0
 ```
+
+### Enable or disable TF/TF_Static publishing
+
+Currently only support "micom" type in cloisim_ros_bringup.
+
+```shell
+ros2 launch cloisim_ros_bringup bringup.launch.py micom.enable_tf:=False
+ros2 run cloisim_ros_bringup bringup --ros-args -p single_mode:=True -p micom.enable_tf:=False
+```

cloisim_ros_bringup/launch/bringup.launch.py

@@ -0,0 +1 @@
+bringup_launch.py

cloisim_ros_bringup/launch/bringup_launch.py

@@ -0,0 +1,118 @@
+"""
+LGE Advanced Robotics Laboratory
+Copyright (c) 2020 LG Electronics Inc., LTD., Seoul, Korea
+All Rights are Reserved.
+
+SPDX-License-Identifier: MIT
+"""
+
+import launch.actions
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+
+    _single_mode = LaunchConfiguration('single_mode')
+    _target_model = LaunchConfiguration('target_model')
+    _target_parts_type = LaunchConfiguration('target_parts_type')
+    _target_parts_name = LaunchConfiguration('target_parts_name')
+    _enable_tf_micom = LaunchConfiguration('micom.enable_tf')
+    _scan = LaunchConfiguration('scan')
+    _cmd_vel = LaunchConfiguration('cmd_vel')
+    _odom = LaunchConfiguration('odom')
+    _imu = LaunchConfiguration('imu')
+    _navsatfix = LaunchConfiguration('navsatfix')
+
+    declare_launch_argument_sm = DeclareLaunchArgument(
+        'single_mode',
+        default_value='False',
+        description='whether to use single mode')
+
+    declare_launch_argument_tm = DeclareLaunchArgument(
+        'target_model',
+        default_value='',
+        description='specify the target model you want')
+
+    declare_launch_argument_tpt = DeclareLaunchArgument(
+        'target_parts_type',
+        default_value='',
+        description='specify the type of target parts you want')
+
+    declare_launch_argument_tpn = DeclareLaunchArgument(
+        'target_parts_name',
+        default_value='',
+        description='specify the name of target parts you want')
+
+    declare_launch_argument_etm = DeclareLaunchArgument(
+        'micom.enable_tf',
+        default_value='True',
+        description='whether to use tf/tf_static for Micom')
+
+    declare_launch_argument_sc = DeclareLaunchArgument(
+        'scan',
+        default_value='scan',
+        description='specify scan topic you want')
+
+    declare_launch_argument_cmdvel = DeclareLaunchArgument(
+        'cmd_vel',
+        default_value='cmd_vel',
+        description='specify cmd_vel topic you want')
+
+    declare_launch_argument_odom = DeclareLaunchArgument(
+        'odom',
+        default_value='odom',
+        description='specify odom topic you want')
+
+    declare_launch_argument_imu = DeclareLaunchArgument(
+        'imu',
+        default_value='imu',
+        description='specify imu/data topic you want')
+
+    declare_launch_argument_navsatfix = DeclareLaunchArgument(
+        'navsatfix',
+        default_value='navsatfix',
+        description='specify navsatfix topic you want')
+
+    stdout_log_use_stdout_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_USE_STDOUT', '1')
+
+    stdout_log_buf_stream_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
+
+    cloisim_ros_cmd = Node(
+        package="cloisim_ros_bringup",
+        executable="bringup",
+        output='screen',
+        remappings=[('scan', _scan),
+                    ('cmd_vel', _cmd_vel),
+                    ('odom', _odom),
+                    ('imu', _imu),
+                    ('navsatfix', _navsatfix)],
+        parameters=[{'single_mode': _single_mode,
+                     'target_model': ParameterValue(_target_model, value_type=str),
+                     'target_parts_type': ParameterValue(_target_parts_type, value_type=str),
+                     'target_parts_name': ParameterValue(_target_parts_name, value_type=str),
+                     'micom.enable_tf': _enable_tf_micom}])
+
+    # Create the launch description and populate
+    ld = launch.LaunchDescription()
+
+     # Set environment variables
+    ld.add_action(stdout_log_use_stdout_envvar)
+    ld.add_action(stdout_log_buf_stream_envvar)
+    ld.add_action(declare_launch_argument_sm)
+    ld.add_action(declare_launch_argument_tm)
+    ld.add_action(declare_launch_argument_tpt)
+    ld.add_action(declare_launch_argument_tpn)
+    ld.add_action(declare_launch_argument_sc)
+    ld.add_action(declare_launch_argument_cmdvel)
+    ld.add_action(declare_launch_argument_odom)
+    ld.add_action(declare_launch_argument_imu)
+    ld.add_action(declare_launch_argument_navsatfix)
+    ld.add_action(declare_launch_argument_etm)
+    ld.add_action(cloisim_ros_cmd)
+
+    return ld

cloisim_ros_bringup/launch/cloisim.launch.py

@@ -0,0 +1 @@
+cloisim_launch.py

cloisim_ros_bringup/launch/cloisim_launch.py

@@ -0,0 +1,43 @@
+"""
+LGE Advanced Robotics Laboratory
+Copyright (c) 2020 LG Electronics Inc., LTD., Seoul, Korea
+All Rights are Reserved.
+
+SPDX-License-Identifier: MIT
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ExecuteProcess
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    sim_path = LaunchConfiguration('sim_path')
+    world = LaunchConfiguration('world')
+
+    execute_multi_robot_simulator = ExecuteProcess(
+        cmd=['./CLOiSim.x86_64', '-world', world],
+        cwd=[sim_path],
+        output='screen')
+
+    declare_launch_argument_sim_path = DeclareLaunchArgument(
+        'sim_path',
+        default_value='',
+        description='path where the CLOiSim simulator located')
+
+    declare_launch_argument_world = DeclareLaunchArgument(
+        'world',
+        default_value='',
+        description='It is World file name. Please check environments before run. [CLOISIM_WORLD_PATH, CLOISIM_MODEL_PATH]')
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Add the actions to launch all nodes
+    ld.add_action(declare_launch_argument_sim_path)
+    ld.add_action(declare_launch_argument_world)
+    ld.add_action(execute_multi_robot_simulator)
+
+    return ld