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Use ParameterFile (allow_substs) #3706

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merged 1 commit into from
Jul 24, 2023
Merged

Use ParameterFile (allow_substs) #3706

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13 changes: 8 additions & 5 deletions nav2_bringup/launch/bringup_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import RewrittenYaml


Expand Down Expand Up @@ -53,11 +54,13 @@ def generate_launch_description():
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]

configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True)
configured_params = ParameterFile(
RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True),
allow_substs=True)

stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
Expand Down
14 changes: 8 additions & 6 deletions nav2_bringup/launch/localization_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, SetParameter
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from launch_ros.descriptions import ComposableNode, ParameterFile
from nav2_common.launch import RewrittenYaml


Expand Down Expand Up @@ -55,11 +55,13 @@ def generate_launch_description():
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]

configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True)
configured_params = ParameterFile(
RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True),
allow_substs=True)

stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
Expand Down
14 changes: 8 additions & 6 deletions nav2_bringup/launch/navigation_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, SetParameter
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from launch_ros.descriptions import ComposableNode, ParameterFile
from nav2_common.launch import RewrittenYaml


Expand Down Expand Up @@ -61,11 +61,13 @@ def generate_launch_description():
param_substitutions = {
'autostart': autostart}

configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
configured_params = ParameterFile(
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Totally approve of this action, but don't you need to do this for all instances of RewrittenYaml, not just this one so it could be used for anywhere this kind of pattern may be useful?

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Updated.

RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True),
allow_substs=True)

stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
Expand Down
13 changes: 8 additions & 5 deletions nav2_bringup/launch/slam_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node, SetParameter
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import HasNodeParams, RewrittenYaml


Expand All @@ -43,11 +44,13 @@ def generate_launch_description():
slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py')

# Create our own temporary YAML files that include substitutions
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True)
configured_params = ParameterFile(
RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True),
allow_substs=True)

# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
Expand Down
14 changes: 8 additions & 6 deletions nav2_collision_monitor/launch/collision_monitor_node.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
from launch_ros.actions import LoadComposableNodes, SetParameter
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ComposableNode
from launch_ros.descriptions import ComposableNode, ParameterFile
from nav2_common.launch import RewrittenYaml


Expand Down Expand Up @@ -73,11 +73,13 @@ def generate_launch_description():
'container_name', default_value='nav2_container',
description='the name of conatiner that nodes will load in if use composition')

configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True)
configured_params = ParameterFile(
RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites={},
convert_types=True),
allow_substs=True)

# Declare node launching commands
load_nodes = GroupAction(
Expand Down