From 63df2854470e0e567f5698c45c6a5f949b49a306 Mon Sep 17 00:00:00 2001
From: Nikhil <nikhil.singhal@intel.com>
Date: Tue, 1 Oct 2024 08:13:53 +0200
Subject: [PATCH] launch control file arg (#196)

---
 .../launch/robot_description.launch.py                 | 10 +++++++++-
 .../gazebo/tb4_sim_scenario/urdf/create3.urdf.xacro    |  7 +++++--
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/simulation/gazebo/tb4_sim_scenario/launch/robot_description.launch.py b/simulation/gazebo/tb4_sim_scenario/launch/robot_description.launch.py
index 9cefb694..b70b700a 100644
--- a/simulation/gazebo/tb4_sim_scenario/launch/robot_description.launch.py
+++ b/simulation/gazebo/tb4_sim_scenario/launch/robot_description.launch.py
@@ -16,6 +16,7 @@
 # @author Roni Kreinin (rkreinin@clearpathrobotics.com)
 
 
+import os
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
@@ -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.'
+    )
 ]
 
 
@@ -46,6 +52,7 @@ def generate_launch_description():
                                        'urdf',
                                        'turtlebot4.urdf.xacro'])
     namespace = LaunchConfiguration('namespace')
+    control_config = LaunchConfiguration('control_config')
 
     robot_state_publisher = Node(
         package='robot_state_publisher',
@@ -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'),
diff --git a/simulation/gazebo/tb4_sim_scenario/urdf/create3.urdf.xacro b/simulation/gazebo/tb4_sim_scenario/urdf/create3.urdf.xacro
index 34dd4cc6..d5428ed4 100644
--- a/simulation/gazebo/tb4_sim_scenario/urdf/create3.urdf.xacro
+++ b/simulation/gazebo/tb4_sim_scenario/urdf/create3.urdf.xacro
@@ -34,6 +34,9 @@ SPDX-License-Identifier: Apache-2.0 -->
   <!-- Namespace -->
   <xacro:arg name="namespace"                    default=""/>
 
+  <!-- Controller config -->
+  <xacro:arg name="control_config"               default="package://irobot_create_control/config/control.yaml" />
+
   <!-- Mechanical properties -->
   <xacro:property name="body_z_offset"           value="${-2.5*cm2m}" />
   <xacro:property name="body_collision_z_offset" value="${1*cm2m}" />
@@ -137,7 +140,7 @@ SPDX-License-Identifier: Apache-2.0 -->
   <xacro:if value="${'$(arg gazebo)' == 'classic'}">
     <gazebo>
       <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-        <parameters>$(find irobot_create_control)/config/control.yaml</parameters>
+        <parameters>$(arg control_config)</parameters>
         <ros>
           <remapping>~/odom:=odom</remapping>
           <remapping>/tf:=tf</remapping>
@@ -152,7 +155,7 @@ SPDX-License-Identifier: Apache-2.0 -->
   <xacro:if value="${'$(arg gazebo)' == 'ignition'}">
     <gazebo>
       <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-        <parameters>$(find irobot_create_control)/config/control.yaml</parameters>
+        <parameters>$(arg control_config)</parameters>
         <ros>
           <remapping>~/odom:=odom</remapping>
           <remapping>/tf:=tf</remapping>