clean up node and ros__parameters prefix

crazyflie/launch/launch.py

@@ -22,10 +22,8 @@ def parse_yaml(context):
 
  with open(server_yaml, 'r') as ymlfile:
  server_yaml_content = yaml.safe_load(ymlfile)
- server_yaml_content['/crazyflie_server']['ros__parameters']['robots'] = crazyflies['robots']
- server_yaml_content['/crazyflie_server']['ros__parameters']['robot_types'] = crazyflies['robot_types']
- server_yaml_content['/crazyflie_server']['ros__parameters']['all'] = crazyflies['all']
 
+ server_params = [crazyflies] + [server_yaml_content['/crazyflie_server']['ros__parameters']]
  # robot description
  urdf = os.path.join(
  get_package_share_directory('crazyflie'),
@@ -35,57 +33,55 @@ def parse_yaml(context):
  with open(urdf, 'r') as f:
  robot_desc = f.read()
 
- server_yaml_content['/crazyflie_server']['ros__parameters']['robot_description'] = robot_desc
+ server_params[1]['robot_description'] = robot_desc
 
  # construct motion_capture_configuration
  motion_capture_yaml = os.path.join(
  get_package_share_directory('crazyflie'),
  'config',
  'motion_capture.yaml')
+
  with open(motion_capture_yaml, 'r') as ymlfile:
  motion_capture_content = yaml.safe_load(ymlfile)
 
- motion_capture_content['/motion_capture_tracking']['ros__parameters']['rigid_bodies'] = dict()
+ motion_capture_params = motion_capture_content['/motion_capture_tracking']['ros__parameters']
+ motion_capture_params['rigid_bodies'] = dict()
  for key, value in crazyflies['robots'].items():
  type = crazyflies['robot_types'][value['type']]
  if value['enabled'] and type['motion_capture']['enabled']:
- motion_capture_content['/motion_capture_tracking']['ros__parameters']['rigid_bodies'][key] = {
+ motion_capture_params['rigid_bodies'][key] = {
  'initial_position': value['initial_position'],
  'marker': type['motion_capture']['marker'],
  'dynamics': type['motion_capture']['dynamics'],
  }
 
  # copy relevent settings to server params
- server_yaml_content['/crazyflie_server']['ros__parameters']['poses_qos_deadline'] = motion_capture_content[
- '/motion_capture_tracking']['ros__parameters']['topics']['poses']['qos']['deadline']
+ server_params[1]['poses_qos_deadline'] = motion_capture_params['topics']['poses']['qos']['deadline']
 
- server_parameters = server_yaml_content['/crazyflie_server']['ros__parameters']
- motion_capture_parameters = motion_capture_content['/motion_capture_tracking']['ros__parameters']
-
  return [
  Node(
  package='motion_capture_tracking',
  executable='motion_capture_tracking_node',
  condition=IfCondition(PythonExpression(["'", LaunchConfiguration('backend'), "' != 'sim' and '", LaunchConfiguration('mocap'), "' == 'True'"])),
  name='motion_capture_tracking',
  output='screen',
- parameters= [motion_capture_parameters],
+ parameters= [motion_capture_params],
  ),
  Node(
  package='crazyflie',
  executable='crazyflie_server.py',
  condition=LaunchConfigurationEquals('backend','cflib'),
  name='crazyflie_server',
  output='screen',
- parameters= [server_parameters],
+ parameters= server_params,
  ),
  Node(
  package='crazyflie',
  executable='crazyflie_server',
  condition=LaunchConfigurationEquals('backend','cpp'),
  name='crazyflie_server',
  output='screen',
- parameters= [server_parameters],
+ parameters= server_params,
  prefix=PythonExpression(['"xterm -e gdb -ex run --args" if ', LaunchConfiguration('debug'), ' else ""']),
  ),
  Node(
@@ -95,7 +91,7 @@ def parse_yaml(context):
  name='crazyflie_server',
  output='screen',
  emulate_tty=True,
- parameters= [server_parameters],
+ parameters= server_params,
  )]
 
 def generate_launch_description():