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Use PathJoinSubstitution #2

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merged 1 commit into from
Aug 23, 2023
Merged

Use PathJoinSubstitution #2

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5 changes: 3 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,17 +14,18 @@ The result is that you can perform the above actions with just 5 lines (not incl
```python
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
ld = LaunchDescription()

ld.add_action(IncludeLaunchDescription(
[FindPackageShare('urdf_launch'), '/launch/description.launch.py'],
PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']),
launch_arguments={
'urdf_package': 'turtlebot3_description',
'urdf_package_path': 'urdf/turtlebot3_burger.urdf'}.items()
'urdf_package_path': PathJoinSubstitution(['urdf', 'turtlebot3_burger.urdf'])}.items()
))

return ld
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8 changes: 3 additions & 5 deletions launch/description.launch.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import Command
from launch.substitutions import LaunchConfiguration
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution


from launch_ros.actions import Node
Expand All @@ -17,11 +17,9 @@ def generate_launch_description():
description='The path to the robot description relative to the package root'))

package_dir = FindPackageShare(LaunchConfiguration('urdf_package'))
urdf_path = PathJoinSubstitution([package_dir, LaunchConfiguration('urdf_package_path')])

robot_description_content = ParameterValue(
Command(['xacro ', package_dir, '/', LaunchConfiguration('urdf_package_path')]),
value_type=str,
)
robot_description_content = ParameterValue(Command(['xacro ', urdf_path]), value_type=str)

robot_state_publisher_node = Node(package='robot_state_publisher',
executable='robot_state_publisher',
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6 changes: 3 additions & 3 deletions launch/display.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
Expand All @@ -16,13 +16,13 @@ def generate_launch_description():
ld.add_action(DeclareLaunchArgument(name='jsp_gui', default_value='true', choices=['true', 'false'],
description='Flag to enable joint_state_publisher_gui'))

default_rviz_config_path = [urdf_launch_package, '/config/urdf.rviz']
default_rviz_config_path = PathJoinSubstitution([urdf_launch_package, 'config', 'urdf.rviz'])
ld.add_action(DeclareLaunchArgument(name='rviz_config', default_value=default_rviz_config_path,
description='Absolute path to rviz config file'))

# need to manually pass configuration in because of https://github.com/ros2/launch/issues/313
ld.add_action(IncludeLaunchDescription(
[urdf_launch_package, '/launch/description.launch.py'],
PathJoinSubstitution([urdf_launch_package, 'launch', 'description.launch.py']),
launch_arguments={
'urdf_package': LaunchConfiguration('urdf_package'),
'urdf_package_path': LaunchConfiguration('urdf_package_path')}.items()
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