reverted changes to localization_launch.py

ros-navigation · Dec 4, 2024 · b68157b · b68157b
1 parent 01bf9dc
commit b68157b
Showing 1 changed file with 25 additions and 0 deletions.
diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py
@@ -108,6 +108,18 @@ def generate_launch_description():
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             Node(
+                condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')),
+                package='nav2_map_server',
+                executable='map_server',
+                name='map_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')),
                 package='nav2_map_server',
                 executable='map_server',
                 name='map_server',
@@ -149,6 +161,19 @@ def generate_launch_description():
             SetParameter("use_sim_time", use_sim_time),
             LoadComposableNodes(
                 target_container=container_name,
+                condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')),
+                composable_node_descriptions=[
+                    ComposableNode(
+                        package='nav2_map_server',
+                        plugin='nav2_map_server::MapServer',
+                        name='map_server',
+                        parameters=[configured_params],
+                        remappings=remappings),
+                ],
+            ),
+            LoadComposableNodes(
+                target_container=container_name,
+                condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')),
                 composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_map_server',