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ROS2 fix: passing extra_resource_paths #21

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Merged
spurnvoj merged 3 commits into from
Oct 22, 2025
Merged

ROS2 fix: passing extra_resource_paths #21

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fe47185
fix: passing argument for extra_resources
TomasMerva Oct 20, 2025
c6537d7
ft: custom config that overwrites the default one
TomasMerva Oct 22, 2025
8eec4dd
fix: overwritting default_config instead of hardcoding
TomasMerva Oct 22, 2025
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30 changes: 14 additions & 16 deletions launch/mrs_drone_spawner.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@
import launch
import os

from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument, LogInfo
from launch.substitutions import LaunchConfiguration, IfElseSubstitution, PythonExpression, PathJoinSubstitution, EnvironmentVariable

from ament_index_python.packages import get_package_share_directory
Expand All @@ -19,36 +19,35 @@ def generate_launch_description():
# Launch arguments declaration
ld.add_action(DeclareLaunchArgument(
'custom_config',
default_value="",
default_value = "",
description="Path to the custom configuration file. The path can be absolute, starting with '/' or relative to the current working directory",
))
))

ld.add_action(DeclareLaunchArgument(
'spawner_params',
'default_spawner_config',
default_value = PathJoinSubstitution([
pkg_mrs_uav_gazebo_simulator, 'config', 'spawner_params.yaml'
]),
description='Path to the default spawner configuration file. The path can be absolute, starting with "/" or relative to the current working directory',
))


ld.add_action(DeclareLaunchArgument(
'debug', default_value = 'false',
description='Run spawner with debug log level'
))

# This logic correctly creates a substitution that resolves to an absolute path.
custom_config_path = IfElseSubstitution(
condition=PythonExpression(['"', LaunchConfiguration('custom_config'), '" != "" and ', 'not "', LaunchConfiguration('custom_config'), '".startswith("/")']),
if_value=PathJoinSubstitution([EnvironmentVariable('PWD'), LaunchConfiguration('custom_config')]),
else_value=LaunchConfiguration('custom_config')
)


# Conditionally set the log level using PythonExpression
log_level = PythonExpression([
"'debug' if '", LaunchConfiguration('debug'), "' == 'true' else 'info'"
])

log_config_args = LogInfo(msg=[
'\n[mrs_drone_spawner.launch.py] Custom config file: ', LaunchConfiguration('custom_config'),
'\n[mrs_drone_spawner.launch.py] Default config file: ', LaunchConfiguration('default_spawner_config')
])
ld.add_action(log_config_args)

ld.add_action(
Node(
name='mrs_drone_spawner',
Expand All @@ -57,9 +56,8 @@ def generate_launch_description():
output="screen",
arguments=['--ros-args', '--log-level', log_level],
parameters=[
# This passes the custom_config path as a parameter named 'custom_config'
{'custom_config': custom_config_path},
LaunchConfiguration('spawner_params'),
LaunchConfiguration('default_spawner_config'),
LaunchConfiguration('custom_config')
],

remappings=[
Expand Down
6 changes: 2 additions & 4 deletions launch/simulation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,7 @@ def generate_launch_description():

declare_spawner_config_arg = DeclareLaunchArgument(
'spawner_config',
default_value = PathJoinSubstitution([
pkg_mrs_uav_gazebo_simulator, 'config', 'spawner_params.yaml'
]),
default_value = "",
description='Configuration file for the custom spawner.'
)

Expand Down Expand Up @@ -127,7 +125,7 @@ def generate_launch_description():
])
),
launch_arguments={
'spawner_config': LaunchConfiguration('spawner_config'),
'custom_config': LaunchConfiguration('spawner_config'),
'debug': LaunchConfiguration('spawner_debug'),
}.items()
)
Expand Down
8 changes: 6 additions & 2 deletions mrs_uav_gazebo_simulator/mrs_drone_spawner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,8 @@ def __init__(self):

self.declare_parameter('firmware_launch_delay', 0.0)

self.declare_parameter('extra_resource_paths', [])
self.declare_parameter('extra_resource_paths', [""])


# Get all parameters
try:
Expand All @@ -141,6 +142,7 @@ def __init__(self):

self.firmware_launch_delay = float(self.get_parameter('firmware_launch_delay').value)


except rclpy.exceptions.ParameterNotDeclaredException as e:
self.get_logger().error(f'Could not load required param. {e}')
raise RuntimeError(f'Could not load required param. {e}')
Expand Down Expand Up @@ -217,7 +219,6 @@ def __init__(self):

# #{ launch_px4_firmware(self, robot_params)
def launch_px4_firmware(self, robot_params):

if self.firmware_launch_delay > 0:
self.get_logger().info(f'Waiting for {self.firmware_launch_delay} s before launching firmware')
time.sleep(self.firmware_launch_delay)
Expand All @@ -227,7 +228,10 @@ def launch_px4_firmware(self, robot_params):

package_name = self.jinja_templates[robot_params['model']].package_name
package_path = get_package_share_directory(package_name)

romfs_path = os.path.join(str(package_path), 'ROMFS')


if not os.path.exists(romfs_path) or not os.path.isdir(romfs_path):
self.get_logger().error(f'Could not start PX4 firmware for {name}. ROMFS folder not found')
raise CouldNotLaunch('ROMFS folder not found')
Expand Down