converting the environment variable for choosing the robot and map into launch arguments #82
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Good Start!
But there are multiple return statements at the end of each launch_setup function. Could you please recheck what's happening there?If there is a return statement that is redundant, you can remove that..
It will be also nice if you can make a video of the working once you are done with the complete feature, so it will be easier to accept and review the PR. You can aim for a documentation ready video, by that way it solves multiple purposes.
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration, PythonExpression | ||
| from launch_ros.actions import Node, PushRosNamespace | ||
| from launch.conditions import IfCondition | ||
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| MY_NEO_ROBOT = os.environ.get('MY_ROBOT', "mpo_700") | ||
| MY_NEO_ENVIRONMENT = os.environ.get('MAP_NAME', "neo_workshop") | ||
| # MY_NEO_ROBOT = os.environ.get('MY_ROBOT', "mpo_700") |
| MY_NEO_ROBOT = os.environ.get('MY_ROBOT', "mpo_700") | ||
| MY_NEO_ENVIRONMENT = os.environ.get('MAP_NAME', "neo_workshop") | ||
| # MY_NEO_ROBOT = os.environ.get('MY_ROBOT', "mpo_700") | ||
| # MY_NEO_ENVIRONMENT = os.environ.get('MAP_NAME', "neo_workshop") |
| description='Map Types: "neo_track1", "neo_track2", "neo_workshop"') | ||
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| # Create launch configuration variables for the robot and map name | ||
| MY_NEO_ROBOT_ARG = LaunchConfiguration('MY_ROBOT') |
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I would change the MY_NEO_ROBOT_ARGS variable to small letter, as well as the MY_ROBOT argument itself to small letter..
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| # Create launch configuration variables for the robot and map name | ||
| MY_NEO_ROBOT_ARG = LaunchConfiguration('MY_ROBOT') | ||
| MY_NEO_ENVIRONMENT_ARG = LaunchConfiguration('MAP_NAME') |
| 'params_file': param_dir}.items()), | ||
| ) | ||
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| return launch_actions |
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I see multiple returns here, is it still a work in progress?
| name='teleop') | ||
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| return [gazebo, spawn_entity, start_robot_state_publisher_cmd, teleop] |
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There are also multiple returns here? not sure if I understood it correctly?
padhupradheep
changed the title
padhupradheep
changed the title
along with the map and robot model, the use sim time and use robot state publisher parts of the code were also modified