Debug Nav2 such that it can navigate to manually provided points

src/igvc_bringup/launch/bringup.launch.py

@@ -9,6 +9,7 @@
 def generate_launch_description():
     use_sim = LaunchConfiguration('use_sim')
     use_mock_hardware = LaunchConfiguration('use_mock_hardware')
+    use_sim_time = LaunchConfiguration('use_sim_time')
 
     return LaunchDescription([
         # Launch Arguments
@@ -33,6 +34,12 @@ def generate_launch_description():
             default_value='true', 
             description='Launch rtabmap for SLAM'
         ),
+
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use simulation time'
+       ),
 
 
         # Publishers & URDF
@@ -43,7 +50,8 @@ def generate_launch_description():
                  '/publisher.launch.py']
             ),
             launch_arguments={
-                'use_mock_hardware': use_mock_hardware
+                'use_mock_hardware': use_mock_hardware, 
+                'use_sim_time' : use_sim_time, 
                 }.items()
         ),
 
@@ -57,6 +65,9 @@ def generate_launch_description():
                 ]
             ),
             condition=IfCondition(use_sim),
+            launch_arguments={
+                'use_sim_time' : use_sim_time, 
+            }.items(),
         ),
 
         # ROS2_Control
@@ -66,6 +77,9 @@ def generate_launch_description():
                  '/launch',
                  '/control.launch.py']
             ),
+            launch_arguments={
+                'use_sim_time' : use_sim_time, 
+            }.items(),
         ),
 
         # Real hardware
@@ -75,7 +89,10 @@ def generate_launch_description():
                  '/launch',
                  '/hardware.launch.py']
             ),
-            condition = UnlessCondition(use_mock_hardware)
+            condition = UnlessCondition(use_mock_hardware), 
+            launch_arguments={
+                'use_sim_time' : use_sim_time, 
+            }.items(),
         ),
 
         # SLAM
@@ -85,7 +102,10 @@ def generate_launch_description():
                  '/launch',
                  '/sim_rtabmap.launch.py']
             ),
-            condition = IfCondition(LaunchConfiguration('use_slam'))
+            condition = IfCondition(LaunchConfiguration('use_slam')),
+            launch_arguments={
+                'use_sim_time' : use_sim_time, 
+            }.items(),
         ),
 
         # TODO Nav

src/igvc_description/launch/publisher.launch.py

@@ -38,7 +38,7 @@ def generate_launch_description():
 
   declare_use_sim_time_cmd = DeclareLaunchArgument(
     name='use_sim_time',
-    default_value='False',
+    default_value='True',
     description='Use simulation (Gazebo) clock if true')
 
   # Specify the actions
@@ -48,6 +48,7 @@ def generate_launch_description():
     condition=UnlessCondition(gui),
     package='joint_state_publisher',
     executable='joint_state_publisher',
+    parameters=[{'use_sim_time': use_sim_time}],
     name='joint_state_publisher')
 
   # A GUI to manipulate the joint state values

src/igvc_description/rviz/rviz_settings.rviz

@@ -64,11 +64,11 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
+        # base_link:
+        #   Alpha: 1
+        #   Show Axes: false
+        #   Show Trail: false
+        #   Value: true
         box_rotate:
           Alpha: 1
           Show Axes: false

src/igvc_hardware/config/bot_controllers.yaml

@@ -40,7 +40,7 @@ bot_drive_controller:
     open_loop: true # TODO eventually make false, but keep true for initial sims
     position_feedback: false # TODO we don't have sensors implemented atm
 
-    enable_odom_tf: true # Whether to publish the transformation between the odom & base frame IDs
+    enable_odom_tf: false # Whether to publish the transformation between the odom & base frame IDs
 
     cmd_vel_timeout: 0.5 # staling threshold for velocity commands
     publish_limited_velocity: false # TODO what does this do?

src/igvc_hardware/launch/control.launch.py

@@ -47,7 +47,7 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         arguments=["bot_drive_controller",
-                   "--controller-manager", "/controller_manager"],
+                   "--controller-manager", "/controller_manager", "--switch-timeout", "20.0"],
         remappings=[('~/cmd_vel','/cmd_vel')]
 
     )
@@ -56,7 +56,7 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager","--switch-timeout", "20.0"],
     )