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Add scan_topic launch argument #32

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Merged
merged 2 commits into from
Oct 7, 2025
Merged

Add scan_topic launch argument #32

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e246a56
Add `scan_topic` launch argument for slam & nav2 launches
civerachb-cpr Sep 30, 2025
12535c4
Add `scan_topic` argument to localization launch
civerachb-cpr Sep 30, 2025
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22 changes: 20 additions & 2 deletions launch/localization.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,14 +48,19 @@

from launch_ros.actions import PushRosNamespace

from nav2_common.launch import RewrittenYaml


ARGUMENTS = [
DeclareLaunchArgument('use_sim_time', default_value='false',
choices=['true', 'false'],
description='Use sim time'),
DeclareLaunchArgument('setup_path',
default_value='/etc/clearpath/',
description='Clearpath setup path')
description='Clearpath setup path'),
DeclareLaunchArgument('scan_topic',
default_value='',
description='Override the default 2D laserscan topic')
]


Expand All @@ -68,6 +73,7 @@ def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration('use_sim_time')
setup_path = LaunchConfiguration('setup_path')
map = LaunchConfiguration('map') # noqa:A001
scan_topic = LaunchConfiguration('scan_topic')

# Read robot YAML
config = read_yaml(os.path.join(setup_path.perform(context), 'robot.yaml'))
Expand All @@ -77,12 +83,24 @@ def launch_setup(context, *args, **kwargs):
namespace = clearpath_config.system.namespace
platform_model = clearpath_config.platform.get_platform_model()

eval_scan_topic = scan_topic.perform(context)
if len(eval_scan_topic) == 0:
eval_scan_topic = f'/{namespace}/sensors/lidar2d_0/scan'

file_parameters = PathJoinSubstitution([
pkg_clearpath_nav2_demos,
'config',
platform_model,
'localization.yaml'])

rewritten_parameters = RewrittenYaml(
source_file=file_parameters,
param_rewrites={
'scan_topic': eval_scan_topic,
},
convert_types=True
)

launch_localization = PathJoinSubstitution(
[pkg_nav2_bringup, 'launch', 'localization_launch.py'])

Expand All @@ -95,7 +113,7 @@ def launch_setup(context, *args, **kwargs):
('namespace', namespace),
('map', map),
('use_sim_time', use_sim_time),
('params_file', file_parameters)
('params_file', rewritten_parameters)
]
),
])
Expand Down
29 changes: 23 additions & 6 deletions launch/nav2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,14 +48,19 @@

from launch_ros.actions import PushRosNamespace, SetRemap

from nav2_common.launch import RewrittenYaml


ARGUMENTS = [
DeclareLaunchArgument('use_sim_time', default_value='false',
choices=['true', 'false'],
description='Use sim time'),
DeclareLaunchArgument('setup_path',
default_value='/etc/clearpath/',
description='Clearpath setup path')
description='Clearpath setup path'),
DeclareLaunchArgument('scan_topic',
default_value='',
description='Override the default 2D laserscan topic')
]


Expand All @@ -67,6 +72,7 @@ def launch_setup(context, *args, **kwargs):
# Launch Configurations
use_sim_time = LaunchConfiguration('use_sim_time')
setup_path = LaunchConfiguration('setup_path')
scan_topic = LaunchConfiguration('scan_topic')

# Read robot YAML
config = read_yaml(os.path.join(setup_path.perform(context), 'robot.yaml'))
Expand All @@ -76,29 +82,40 @@ def launch_setup(context, *args, **kwargs):
namespace = clearpath_config.system.namespace
platform_model = clearpath_config.platform.get_platform_model()

# see if we've overridden the scan_topic
eval_scan_topic = scan_topic.perform(context)
if len(eval_scan_topic) == 0:
eval_scan_topic = f'/{namespace}/sensors/lidar2d_0/scan'

file_parameters = PathJoinSubstitution([
pkg_clearpath_nav2_demos,
'config',
platform_model,
'nav2.yaml'])

rewritten_parameters = RewrittenYaml(
source_file=file_parameters,
param_rewrites={
# the only *.topic parameters are scan.topic, so rewrite all of them to point to
# our desired scan_topic
'topic': eval_scan_topic,
},
convert_types=True
)

launch_nav2 = PathJoinSubstitution(
[pkg_nav2_bringup, 'launch', 'navigation_launch.py'])

nav2 = GroupAction([
PushRosNamespace(namespace),
SetRemap('/' + namespace + '/global_costmap/sensors/lidar2d_0/scan',
'/' + namespace + '/sensors/lidar2d_0/scan'),
SetRemap('/' + namespace + '/local_costmap/sensors/lidar2d_0/scan',
'/' + namespace + '/sensors/lidar2d_0/scan'),
SetRemap('/' + namespace + '/odom',
'/' + namespace + '/platform/odom'),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_nav2),
launch_arguments=[
('use_sim_time', use_sim_time),
('params_file', file_parameters),
('params_file', rewritten_parameters),
('use_composition', 'False'),
('namespace', namespace)
]
Expand Down
10 changes: 9 additions & 1 deletion launch/slam.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,9 @@
DeclareLaunchArgument('sync', default_value='true',
choices=['true', 'false'],
description='Use synchronous SLAM'),
DeclareLaunchArgument('scan_topic',
default_value='',
description='Override the default 2D laserscan topic')
]


Expand All @@ -81,6 +84,7 @@ def launch_setup(context, *args, **kwargs):
autostart = LaunchConfiguration('autostart')
use_lifecycle_manager = LaunchConfiguration('use_lifecycle_manager')
sync = LaunchConfiguration('sync')
scan_topic = LaunchConfiguration('scan_topic')

# Read robot YAML
config = read_yaml(os.path.join(setup_path.perform(context), 'robot.yaml'))
Expand All @@ -89,6 +93,10 @@ def launch_setup(context, *args, **kwargs):

namespace = clearpath_config.system.namespace
platform_model = clearpath_config.platform.get_platform_model()
eval_scan_topic = scan_topic.perform(context)

if len(eval_scan_topic) == 0:
eval_scan_topic = f'/{namespace}/sensors/lidar2d_0/scan'

file_parameters = PathJoinSubstitution([
pkg_clearpath_nav2_demos,
Expand All @@ -101,7 +109,7 @@ def launch_setup(context, *args, **kwargs):
root_key=namespace,
param_rewrites={
'map_name': '/' + namespace + '/map',
'scan_topic': '/' + namespace + '/sensors/lidar2d_0/scan',
'scan_topic': eval_scan_topic,
},
convert_types=True
)
Expand Down