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Original file line number | Diff line number | Diff line change |
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@@ -16,6 +16,7 @@ | |
# @author Roni Kreinin ([email protected]) | ||
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import os | ||
from ament_index_python.packages import get_package_share_directory | ||
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from launch import LaunchDescription | ||
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@@ -37,6 +38,11 @@ | |
description='Robot name'), | ||
DeclareLaunchArgument('namespace', default_value=LaunchConfiguration('robot_name'), | ||
description='Robot namespace'), | ||
DeclareLaunchArgument( | ||
'control_config', | ||
default_value=os.path.join(get_package_share_directory("irobot_create_control"), 'config', 'control.yaml'), | ||
description='Path to the control YAML file.' | ||
) | ||
] | ||
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@@ -46,6 +52,7 @@ def generate_launch_description(): | |
'urdf', | ||
'turtlebot4.urdf.xacro']) | ||
namespace = LaunchConfiguration('namespace') | ||
control_config = LaunchConfiguration('control_config') | ||
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robot_state_publisher = Node( | ||
package='robot_state_publisher', | ||
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@@ -57,7 +64,8 @@ def generate_launch_description(): | |
{'robot_description': ParameterValue(Command([ | ||
'xacro', ' ', xacro_file, ' ', | ||
'gazebo:=ignition', ' ', | ||
'namespace:=', namespace]), value_type=str)}, | ||
'namespace:=', namespace, ' ', | ||
'control_config:=', control_config]), value_type=str)}, | ||
], | ||
remappings=[ | ||
('/tf', 'tf'), | ||
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