Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Cleanup e-puck tools to run RViz alone #712

Merged
merged 2 commits into from
Apr 18, 2023
Merged

Cleanup e-puck tools to run RViz alone #712

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a8a9d29
cleanup launch
ygoumaz Apr 18, 2023
eda3622
changelog
ygoumaz Apr 18, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions webots_ros2/CHANGELOG.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down
4 changes: 4 additions & 0 deletions webots_ros2_epuck/CHANGELOG.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down
26 changes: 5 additions & 21 deletions webots_ros2_epuck/launch/robot_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand Down