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It magically stopped working again.. It is requiring the absolute path in the YAML file! I do not know what do to anymore!

EDIT: I found out that for some reason this is only working when I run the launch file in a terminal that is in the launch file directory....

Anyway, I found a simpler and robust approach by ignoring one of the YAML files and passing directly the argument in the launch file. This way I am using the absolute path, the OS python library is responsible for it. So just forget the file "map_server_params.yaml", and use the following launch file:

import os import yaml from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node from launch.actions import ExecuteProcess from launch.substitutions import LaunchConfiguration import launch_ros.actions

def generate_launch_description():

ld = LaunchDescription()

# Map server
map_server_config_path = os.path.join(
    get_package_share_directory('agrob_path'),
    'launch',
    'map.yaml'
)

map_server_cmd = Node(
    package='nav2_map_server',
    executable='map_server',
    output='screen',
    parameters=[{'yaml_filename': map_server_config_path}])


lifecycle_nodes = ['map_server']
use_sim_time = True
autostart = True

start_lifecycle_manager_cmd = launch_ros.actions.Node(
        package='nav2_lifecycle_manager',
        executable='lifecycle_manager',
        name='lifecycle_manager',
        output='screen',
        emulate_tty=True,  # https://github.com/ros2/launch/issues/188
        parameters=[{'use_sim_time': use_sim_time},
                    {'autostart': autostart},
                    {'node_names': lifecycle_nodes}])




ld.add_action(map_server_cmd)
ld.add_action(start_lifecycle_manager_cmd)

return ld

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