Cleanup e-puck tools to run RViz alone (#712)

* cleanup launch * changelog
cyberbotics · Apr 18, 2023 · fd4ae90 · fd4ae90
1 parent 3c59c87
commit fd4ae90
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 21 deletions.
diff --git a/webots_ros2/CHANGELOG.rst b/webots_ros2/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2023.0.4 (2023-XX-XX)
+------------------
+* Fixed ability to launch RViz without other tools in e-puck example.
+
 2023.0.3 (2023-04-12)
 ------------------
 * Fixed the calibration of the TIAGo.

diff --git a/webots_ros2_epuck/CHANGELOG.rst b/webots_ros2_epuck/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package webots_ros2_epuck
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2023.0.4 (2023-XX-XX)
+------------------
+* Fixed ability to launch RViz without other tools.
+
 2023.0.3 (2023-04-12)
 ------------------
 * Refactored launch files.

diff --git a/webots_ros2_epuck/launch/robot_launch.py b/webots_ros2_epuck/launch/robot_launch.py
@@ -110,36 +110,20 @@ def get_ros2_nodes(*args):
         arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_footprint'],
     )
 
-    tool_nodes = []
-    # Navigation
-    nav_tools = IncludeLaunchDescription(
+    # Tools
+    tool_nodes = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(package_dir, 'launch', 'robot_tools_launch.py')
         ),
         launch_arguments={
-            'nav': use_nav,
-            'rviz': use_rviz,
-            'use_sim_time': use_sim_time,
+            'fill_map': fill_map,
+            'mapper': use_mapper,
             'map': map_filename,
-        }.items(),
-        condition=launch.conditions.IfCondition(use_nav)
-    )
-    tool_nodes.append(nav_tools)
-
-    # Mapping
-    mapper_tools = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(package_dir, 'launch', 'robot_tools_launch.py')
-        ),
-        launch_arguments={
+            'nav': use_nav,
             'rviz': use_rviz,
-            'mapper': use_mapper,
             'use_sim_time': use_sim_time,
-            'fill_map': fill_map,
         }.items(),
-        condition=launch.conditions.IfCondition(use_mapper)
     )
-    tool_nodes.append(mapper_tools)
 
     # Wait for the simulation to be ready to start the tools
     tools_handler = launch.actions.RegisterEventHandler(