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Nav Double Namespace fix #57

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merged 1 commit into from
Oct 31, 2023
Merged

Nav Double Namespace fix #57

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63 changes: 32 additions & 31 deletions turtlebot4_ignition_bringup/launch/turtlebot4_spawn.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,9 +108,6 @@ def generate_launch_description():
x, y, z = LaunchConfiguration('x'), LaunchConfiguration('y'), LaunchConfiguration('z')
yaw = LaunchConfiguration('yaw')
turtlebot4_node_yaml_file = LaunchConfiguration('param_file')
localization = LaunchConfiguration('localization')
slam = LaunchConfiguration('slam')
nav2 = LaunchConfiguration('nav2')

robot_name = GetNamespacedName(namespace, 'turtlebot4')
dock_name = GetNamespacedName(namespace, 'standard_dock')
Expand Down Expand Up @@ -238,36 +235,37 @@ def generate_launch_description():
]
),

# Localization
IncludeLaunchDescription(
PythonLaunchDescriptionSource([localization_launch]),
launch_arguments=[
('namespace', namespace),
('use_sim_time', use_sim_time)
],
condition=IfCondition(localization)
),
])

# SLAM
IncludeLaunchDescription(
PythonLaunchDescriptionSource([slam_launch]),
launch_arguments=[
('namespace', namespace),
('use_sim_time', use_sim_time)
],
condition=IfCondition(slam)
),
# Localization
localization = IncludeLaunchDescription(
PythonLaunchDescriptionSource([localization_launch]),
launch_arguments=[
('namespace', namespace),
('use_sim_time', use_sim_time)
],
condition=IfCondition(LaunchConfiguration('localization'))
)

# Nav2
IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch]),
launch_arguments=[
('namespace', namespace),
('use_sim_time', use_sim_time)
],
condition=IfCondition(nav2)
),
])
# SLAM
slam = IncludeLaunchDescription(
PythonLaunchDescriptionSource([slam_launch]),
launch_arguments=[
('namespace', namespace),
('use_sim_time', use_sim_time)
],
condition=IfCondition(LaunchConfiguration('slam'))
)

# Nav2
nav2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch]),
launch_arguments=[
('namespace', namespace),
('use_sim_time', use_sim_time)
],
condition=IfCondition(LaunchConfiguration('nav2'))
)

# RViz
rviz = IncludeLaunchDescription(
Expand All @@ -282,5 +280,8 @@ def generate_launch_description():
ld = LaunchDescription(ARGUMENTS)
ld.add_action(param_file_cmd)
ld.add_action(spawn_robot_group_action)
ld.add_action(localization)
ld.add_action(slam)
ld.add_action(nav2)
ld.add_action(rviz)
return ld
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