component file

Author: KmakD

husarion_ugv_controller/launch/controller.launch.py

@@ -34,11 +34,24 @@
 
 
 def generate_launch_description():
-    husarion_ugv_desctiption_pkg = FindPackageShare("husarion_ugv_description")
     husarion_ugv_controller_common_dir = PathJoinSubstitution(
         ["/config", "husarion_ugv_controller"]
     )
 
+    robot_model = LaunchConfiguration("robot_model")
+    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
+    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
+
+    robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
+    robot_description_common_dir = PathJoinSubstitution(["/config", robot_description_pkg])
+
+    declare_robot_model_arg = DeclareLaunchArgument(
+        "robot_model",
+        default_value=robot_model_dict[robot_model_env],
+        description="Specify robot model",
+        choices=["lynx", "panther"],
+    )
+
     battery_config_path = LaunchConfiguration("battery_config_path")
     declare_battery_config_path_arg = DeclareLaunchArgument(
         "battery_config_path",
@@ -53,7 +66,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [husarion_ugv_desctiption_pkg, "config", "components.yaml"]
+            [robot_description_common_dir, "config", "components.yaml"]
         ),
         description=(
             "Additional components configuration file. Components described in this file "
@@ -99,16 +112,6 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
-    robot_model = LaunchConfiguration("robot_model")
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-    declare_robot_model_arg = DeclareLaunchArgument(
-        "robot_model",
-        default_value=robot_model_dict[robot_model_env],
-        description="Specify robot model",
-        choices=["lynx", "panther"],
-    )
-
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -122,14 +125,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare(husarion_ugv_desctiption_pkg),
+                FindPackageShare(robot_description_pkg),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
+            "'panther_description/config/{wheel_type}.yaml'. You can also specify the path "
             "to your custom wheel configuration file here. "
         ),
     )
@@ -160,7 +163,7 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution(
                 [
-                    FindPackageShare(husarion_ugv_desctiption_pkg),
+                    FindPackageShare(robot_description_pkg),
                     "urdf",
                     robot_description_file,
                 ]