Merge pull request #484 from IMRCLab/fix-ros2-tutorials

Fix ros2 tutorials
IMRCLab · Apr 24, 2024 · 4e9000c · 4e9000c
2 parents bf00cb7 + d5daef3
commit 4e9000c
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Showing 4 changed files with 40 additions and 3 deletions.
diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py
@@ -18,6 +18,15 @@ def generate_launch_description():
 
     server_params = crazyflies
 
+    # robot description
+    urdf = os.path.join(
+        get_package_share_directory('crazyflie'),
+        'urdf',
+        'crazyflie_description.urdf')
+    with open(urdf, 'r') as f:
+        robot_desc = f.read()
+    server_params['robot_description'] = robot_desc
+
     return LaunchDescription([
         Node(
             package='crazyflie',

diff --git a/crazyflie_examples/launch/multiranger_mapping_launch.py b/crazyflie_examples/launch/multiranger_mapping_launch.py
@@ -18,6 +18,15 @@ def generate_launch_description():
 
     server_params = crazyflies
 
+    # robot description
+    urdf = os.path.join(
+        get_package_share_directory('crazyflie'),
+        'urdf',
+        'crazyflie_description.urdf')
+    with open(urdf, 'r') as f:
+        robot_desc = f.read()
+    server_params['robot_description'] = robot_desc
+
     return LaunchDescription([
         Node(
             package='crazyflie',

diff --git a/crazyflie_examples/launch/multiranger_nav2_launch.py b/crazyflie_examples/launch/multiranger_nav2_launch.py
@@ -20,6 +20,15 @@ def generate_launch_description():
 
     server_params = crazyflies
 
+    # robot description
+    urdf = os.path.join(
+        get_package_share_directory('crazyflie'),
+        'urdf',
+        'crazyflie_description.urdf')
+    with open(urdf, 'r') as f:
+        robot_desc = f.read()
+    server_params['robot_description'] = robot_desc
+
     cf_examples_dir = get_package_share_directory('crazyflie_examples')
     bringup_dir = get_package_share_directory('nav2_bringup')
     bringup_launch_dir = os.path.join(bringup_dir, 'launch')
@@ -73,7 +82,7 @@ def generate_launch_description():
                 'autostart': 'True',
                 'use_composition': 'True',
                 'transform_publish_period': '0.02'
-                }.items()
+            }.items()
         ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(

diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py
@@ -7,6 +7,7 @@
 
 
 def generate_launch_description():
+
     # load crazyflies
     crazyflies_yaml = os.path.join(
         get_package_share_directory('crazyflie'),
@@ -18,6 +19,15 @@ def generate_launch_description():
 
     server_params = crazyflies
 
+    # robot description
+    urdf = os.path.join(
+        get_package_share_directory('crazyflie'),
+        'urdf',
+        'crazyflie_description.urdf')
+    with open(urdf, 'r') as f:
+        robot_desc = f.read()
+    server_params['robot_description'] = robot_desc
+
     crazyflie_name = '/cf231'
 
     return LaunchDescription([
@@ -26,7 +36,7 @@ def generate_launch_description():
             executable='crazyflie_server.py',
             name='crazyflie_server',
             output='screen',
-            parameters=[server_params],
+            parameters=[server_params]
         ),
         Node(
             package='crazyflie',
@@ -43,6 +53,6 @@ def generate_launch_description():
             name='simple_mapper_multiranger',
             output='screen',
             parameters=[
-                        {'robot_prefix': crazyflie_name}]
+                {'robot_prefix': crazyflie_name}]
         ),
     ])