From c9af5573fdb824c87789b7de921e9528b157a0f0 Mon Sep 17 00:00:00 2001 From: Yousseflah <53279766+Yousseflah@users.noreply.github.com> Date: Fri, 23 Jul 2021 00:02:24 -0400 Subject: [PATCH] sync with main and use ros_diff_drive in case name changes (#2472) Co-authored-by: YOUSSEF LAHROUNI --- .../nav2_gazebo_spawner/nav2_gazebo_spawner.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py index 9f4daaf196..2b98eb3747 100644 --- a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py +++ b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py @@ -78,8 +78,7 @@ def main(): tree = ET.parse(sdf_file_path) root = tree.getroot() for plugin in root.iter('plugin'): - # TODO(orduno) Handle case if an sdf file from non-turtlebot is provided - if 'turtlebot3_diff_drive' in plugin.attrib.values(): + if 'ros_diff_drive' in plugin.get('filename'): # The only plugin we care for now is 'diff_drive' which is # broadcasting a transform between`odom` and `base_footprint` break