nexus/nexus_demos/launch/depot.launch.xml at fe969a5591161928abbe332a06afe50daf52ea26 · osrf/nexus · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
<?xml version='1.0' ?>

<launch>
  <arg name="headless" default="true"/>
  <arg name="use_simulator" default="true"/>
  <arg name="sim_update_rate" default='100'/>

  <!-- RMF Common launch -->
  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
    <arg name="headless" value="$(var headless)" />
    <arg name="use_sim_time" value="$(var use_simulator)"/>
    <arg name="viz_config_file" value ="$(find-pkg-share nexus_demos)/launch/include/depot/depot.rviz"/>
    <arg name="config_file" value="$(find-pkg-share nexus_demos)/maps/depot/depot.building.yaml"/>
  </include>

  <!-- Nexus Common launch -->
  <include file="$(find-pkg-share nexus_integration_tests)/launch/common.launch.xml">
    <arg name="headless" value="$(var headless)" />
    <arg name="use_sim_time" value="$(var use_simulator)"/>
  </include>

  <!-- DeliveryRobot fleet adapter -->
  <group>
    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
      <arg name="use_sim_time" value="$(var use_sim_time)"/>
      <arg name="nav_graph_file" value="$(find-pkg-share nexus_demos)/maps/depot/nav_graphs/0.yaml" />
      <arg name="config_file" value="$(find-pkg-share nexus_demos)/config/depot/deliveryRobot_config.yaml"/>
    </include>
  </group>

  <node pkg="nexus_workcell_orchestrator" exec="nexus_workcell_orchestrator" name="rmf_nexus_transporter" output="both">
    <param name="capabilities" value="[nexus::capabilities::RMFRequestCapability]"/>
    <param name="bt_path" value="$(find-pkg-share nexus_demos)/config/rmf_bts"/>
  </node>

  <!-- Simulator launch -->
  <include if="$(var use_simulator)" file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
    <arg name="headless" value="$(var headless)" />
    <arg name="map_package" value="nexus_demos" />
    <arg name="map_name" value="depot" />
    <arg name="gazebo_version" value="8" />
    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
  </include>

  <!-- Bringup orchestrators -->
  <include file="$(find-pkg-share nexus_demos)/launch/include/depot/launch.py">
    <!-- Set as true to make it auto bringup and remove all the extra rviz launches -->
    <arg name="headless" value="true" />
    <arg name="use_sim_time" value="$(var use_simulator)"/>
    <arg name="main_bt_package" value="nexus_demos"/>
    <arg name="main_bt_filename" value="main_rmf.xml"/>
    <arg name="system_orchestrator_remap_task_types" value="{pick_and_place_rmf: [place_on_amr, pick_from_amr]}"/>
  </include>

</launch>