From 9ea5373a0de400a870e8e38ba2a0ea67bfea924c Mon Sep 17 00:00:00 2001
From: knmcguire <kimberly@bitcraze.io>
Date: Fri, 19 Apr 2024 16:02:33 +0200
Subject: [PATCH] simpler solution to fix it

---
 .../launch/keyboard_velmux_launch.py          | 10 ++++++++
 .../launch/multiranger_mapping_launch.py      | 10 ++++++++
 .../launch/multiranger_nav2_launch.py         | 11 ++++++++
 .../multiranger_simple_mapper_launch.py       | 25 +++----------------
 4 files changed, 34 insertions(+), 22 deletions(-)

diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py
index 8fee2f797..76b7dc8af 100644
--- 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
index 7ff246f83..798fc3c08 100644
--- 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
index 33d834242..3e45897ad 100644
--- 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
index 990ed7a9c..a5dfeea84 100644
--- 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():
 
@@ -18,18 +16,8 @@ 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(
@@ -37,26 +25,19 @@ def generate_launch_description():
         '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',