Skip to content

Feature - nav2_route server support for kilted #34

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
AdarshKaran wants to merge 4 commits into
base: kilted
Choose a base branch
from
Open

Feature - nav2_route server support for kilted #34

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
b50e85b
1.0.4
padhupradheep Sep 12, 2025
4e3a3e5
added support for route server
AdarshKaran Nov 28, 2025
fe86a69
reverted back default value
AdarshKaran Nov 28, 2025
3e1e519
Merge branch 'kilted' into feature/route_server_kilted
padhupradheep Feb 19, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
90 changes: 84 additions & 6 deletions launch/navigation_neo.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, GroupAction, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.conditions import IfCondition
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node, SetParameter
from launch_ros.descriptions import ParameterFile
Expand All @@ -37,12 +37,16 @@ def generate_launch_description():
params_file = LaunchConfiguration('params_file')
use_multi_robots = LaunchConfiguration('use_multi_robots')
use_rviz = LaunchConfiguration('use_rviz')
graph_filepath = LaunchConfiguration('graph_filepath')
use_route = LaunchConfiguration('use_route')

lifecycle_nodes = ['controller_server',
'planner_server',
'behavior_server',
'bt_navigator',
'waypoint_follower']
lifecycle_nodes_with_route = lifecycle_nodes + ['smoother_server',
'route_server']

remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
Expand Down Expand Up @@ -81,13 +85,32 @@ def generate_launch_description():
declare_use_multi_robots_cmd = DeclareLaunchArgument(
'use_multi_robots', default_value='False',
description='A flag to remove the remappings')

declare_use_rviz_cmd = DeclareLaunchArgument(
'use_rviz', default_value='True',
description='Launch RViz for visualization'
)

declare_graph_filepath_cmd = DeclareLaunchArgument(
'graph_filepath', default_value='',
description='Full path to the graph file for route planning'
)

declare_use_route_cmd = DeclareLaunchArgument(
'use_route', default_value='False',
description='Launch route-specific nodes like smoother and route server'
)

route_rviz_config = os.path.join(bringup_dir, 'rviz', 'route_server.rviz')
single_robot_rviz_config = os.path.join(bringup_dir, 'rviz', 'single_robot.rviz')
rviz_config = PythonExpression([
'"', route_rviz_config, '" if "',
use_route, '".lower() == "true" else "',
single_robot_rviz_config, '"'
])

load_nodes = GroupAction(
condition=IfCondition(PythonExpression(['not ', use_multi_robots])),
condition=UnlessCondition(use_multi_robots),
actions=[
SetParameter('use_sim_time', use_sim_time),
Node(
Expand Down Expand Up @@ -124,14 +147,41 @@ def generate_launch_description():
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_smoother',
executable='smoother_server',
name='smoother_server',
output='screen',
parameters=[configured_params],
remappings=remappings,
condition=IfCondition(use_route)),
Node(
package='nav2_route',
executable='route_server',
name='route_server',
output='screen',
parameters=[configured_params,
{'graph_filepath': graph_filepath}],
remappings=remappings,
condition=IfCondition(use_route)),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
{'node_names': lifecycle_nodes_with_route}],
condition=IfCondition(use_route)),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}],
condition=UnlessCondition(use_route)),
]
)

Expand Down Expand Up @@ -168,18 +218,43 @@ def generate_launch_description():
name='waypoint_follower',
output='screen',
parameters=[configured_params]),
Node(
package='nav2_smoother',
executable='smoother_server',
name='smoother_server',
output='screen',
parameters=[configured_params],
condition=IfCondition(use_route)),
Node(
package='nav2_route',
executable='route_server',
name='route_server',
output='screen',
parameters=[configured_params,
{'graph_filepath': graph_filepath}],
condition=IfCondition(use_route)),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes_with_route}],
condition=IfCondition(use_route)),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
{'node_names': lifecycle_nodes}],
condition=UnlessCondition(use_route)),
]
)

# Start RViz if use_rviz is True
# Start RViz with the chosen config
start_rviz = IncludeLaunchDescription(
condition=IfCondition(use_rviz),
launch_description_source=PythonLaunchDescriptionSource(
Expand All @@ -189,6 +264,7 @@ def generate_launch_description():
'use_namespace': use_multi_robots,
'use_sim_time': use_sim_time,
'rviz_output': 'log',
'rviz_config': rviz_config,
}.items(),
)
# Create the launch description and populate
Expand All @@ -201,6 +277,8 @@ def generate_launch_description():
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_use_multi_robots_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_use_route_cmd)
ld.add_action(declare_graph_filepath_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(load_nodes)
ld.add_action(load_nodes_multi_robot)
Expand Down
5 changes: 5 additions & 0 deletions package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,11 @@
<depend>nav2_common</depend>
<depend>slam_toolbox</depend>

<exec_depend>rclpy</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>nav2_simple_commander</exec_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
Expand Down
Loading