From b68157bca1a033b82b8ac76cd7999616bb689857 Mon Sep 17 00:00:00 2001 From: John Chrosniak Date: Wed, 4 Dec 2024 11:33:31 -0500 Subject: [PATCH] reverted changes to localization_launch.py --- nav2_bringup/launch/localization_launch.py | 25 ++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py index 5e3de548f12..759f1c5dfed 100644 --- 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',