simpler solution to fix it

IMRCLab · Apr 19, 2024 · 9ea5373 · 9ea5373
1 parent 48803e1
commit 9ea5373
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Showing 4 changed files with 34 additions and 22 deletions.
diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py
@@ -18,6 +18,16 @@ 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 +18,16 @@ 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 +20,17 @@ 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')

diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py
@@ -4,8 +4,6 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import yaml
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, PythonExpression
 
 def generate_launch_description():
 
@@ -18,45 +16,28 @@ def generate_launch_description():
  with open(crazyflies_yaml, 'r') as ymlfile:
  crazyflies = yaml.safe_load(ymlfile)
 
- # server params
- server_yaml = os.path.join(
- get_package_share_directory('crazyflie'),
- 'config',
- 'server.yaml')
-
- with open(server_yaml, 'r') as ymlfile:
- server_yaml_content = yaml.safe_load(ymlfile)
+ server_params = crazyflies
 
- 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']
 
  # 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_yaml_content["/crazyflie_server"]["ros__parameters"]["robot_description"] = robot_desc
-
- # Save server and mocap in temp file such that nodes can read it out later
- with open('tmp_server.yaml', 'w') as outfile:
- yaml.dump(server_yaml_content, outfile, default_flow_style=False, sort_keys=False)
-
+ server_params["robot_description"] = robot_desc
 
  crazyflie_name = '/cf231'
 
 
  return LaunchDescription([
- DeclareLaunchArgument('server_yaml_file', default_value=''),
  Node(
  package='crazyflie',
  executable='crazyflie_server.py',
  name='crazyflie_server',
  output='screen',
- parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])],
+ parameters=[server_params]
  ),
  Node(
  package='crazyflie',