world_name引数を正常に使用できるように修正

rt-net · Oct 24, 2023 · 77dee4d · 77dee4d
1 parent 701f2e3
commit 77dee4d
Showing 1 changed file with 2 additions and 9 deletions.
diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py
@@ -48,25 +48,18 @@ def generate_launch_description():
         description='Set "true" to mount rgb camera.')
     declare_arg_world_name = DeclareLaunchArgument(
         'world_name',
-        default_value='empty_world.sdf',
+        default_value=get_package_share_directory('raspimouse_gazebo')+'/worlds/empty_world.sdf',
         description='Set world name.')
 
     env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
            'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
                get_package_share_directory('raspimouse_description')) + ':' +
            os.path.join(get_package_share_directory('raspimouse_gazebo'), 'models'),
            }
-    world_name = str(LaunchConfiguration('world_name', default='empty_world.sdf'))
-    print(world_name)
-    world_file = os.path.join(
-        get_package_share_directory('raspimouse_gazebo'),
-        'worlds',
-        LaunchConfiguration('world_name')
-    )
     gui_config = os.path.join(
         get_package_share_directory('raspimouse_gazebo'), 'gui', 'gui.config')
     ign_gazebo = ExecuteProcess(
-            cmd=['ign gazebo -r', world_file, '--gui-config', gui_config],
+            cmd=['ign gazebo -r', LaunchConfiguration('world_name'), '--gui-config', gui_config],
             output='screen',
             additional_env=env,
             shell=True