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Use xacro; added new dep #1

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merged 3 commits into from
Jan 26, 2024
Merged

Use xacro; added new dep #1

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cd2aff4
Use xacro; added new dep
fmrico Jan 25, 2024
9362ac2
Fix launchers with new xacros
fmrico Jan 26, 2024
aeca4bf
Merge branch 'main' into fix_depth
Juancams Jan 26, 2024
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6 changes: 3 additions & 3 deletions launch/kobuki.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -109,9 +109,9 @@ def generate_launch_description():
robot_astra_description_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('kobuki_description'),
'launch/'), 'kobuki_astra_description.launch.py']),
condition=IfCondition(PythonExpression([astra]))
)
'launch/'), 'kobuki_description.launch.py']),
condition=IfCondition(PythonExpression([astra])))


ld.add_action(declare_astra_cmd)
ld.add_action(robot_astra_description_cmd)
Expand Down
17 changes: 9 additions & 8 deletions launch/simulation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,9 @@
SetEnvironmentVariable
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, Command
from launch_ros.actions import Node
import launch_ros.descriptions
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

Expand Down Expand Up @@ -105,10 +108,7 @@ def generate_launch_description():

kobuki_dir = get_package_share_directory('kobuki_description')

urdf_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_gazebo.urdf')

with open(urdf_file, 'r') as info:
robot_desc = info.read()
urdf_xacro_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_hexagons_asus_xtion_pro_sim.urdf.xacro')

model_name = DeclareLaunchArgument(
'model_name', default_value='robot',
Expand All @@ -119,10 +119,11 @@ def generate_launch_description():
robot_model = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'robot_description': robot_desc,
'use_sim_time': True}],
arguments=[urdf_file]
)
parameters=[{
'robot_description': launch_ros.descriptions.ParameterValue(
Command(['xacro ', urdf_xacro_file]), value_type=str),
'use_sim_time': True
}])

# TF Tree
joint_state_publisher_node = Node(
Expand Down
7 changes: 5 additions & 2 deletions thirdparty.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,10 @@ repositories:
type: git
url: https://github.com/stonier/ecl_lite.git
version: devel
ThirdParty/gazebo_plugins:
type: git
url: https://github.com/fmrico/gazebo_ros_pkgs.git
version: ros2_fix_depth
ThirdParty/kobuki_core:
type: git
url: https://github.com/kobuki-base/kobuki_core.git
Expand All @@ -46,5 +50,4 @@ repositories:
ThirdParty/sophus:
type: git
url: https://github.com/stonier/sophus.git
version: release/1.2.x

version: release/1.2.x