I have problem with path planner excercise.
I tried run ros2 pkg list | grep nav2_reco
But ouput is nothing
Below is my file launch:
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
import launch_ros.actions
from launch_ros.actions import Node
# from nav2_common.launch import Node
def generate_launch_description():
# Get the launch directory
nav2_yaml = os.path.join(get_package_share_directory('nav2_project'), 'config', 'nav2_project.yaml')
rviz_config_dir = os.path.join(get_package_share_directory('nav2_project'), 'config', 'nav2_default_view.rviz')
map_file = os.path.join(get_package_share_directory('nav2_project'), 'config', 'turtlebot3_house.yaml')
bt_xml_path = os.path.join(get_package_share_directory('nav2_project'), 'config', 'navigate_w_replanning_and_recovery.xml')
return LaunchDescription([
Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[nav2_yaml, {'yaml_filename':map_file} ]),
Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[nav2_yaml]),
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': True}],
output='screen'),
Node(
package='nav2_controller',
executable='controller_server',
output='screen',
parameters=[nav2_yaml]),
Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[nav2_yaml]),
Node(
package='nav2_recoveries',
executable='recoveries_server',
name='recoveries_server',
output='screen'),
Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[nav2_yaml, {'bt_xml_filename': bt_xml_path}]),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'autostart': True},
{'names': ['map_server',
'amcl',
'controller_server',
'planner_server',
'recoveries_server',
'bt_navigator']}])
])