From 1a3a98104dbb6c6bebbc025b2332abbce4610b4b Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 24 May 2024 12:21:22 +0200 Subject: [PATCH] Fix regression where teleop node would crash due to missing configuration file --- crazyflie/config/teleop.yaml | 2 +- crazyflie/launch/launch.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/crazyflie/config/teleop.yaml b/crazyflie/config/teleop.yaml index 218efb498..a9523e2a5 100644 --- a/crazyflie/config/teleop.yaml +++ b/crazyflie/config/teleop.yaml @@ -1,7 +1,7 @@ /teleop: ros__parameters: frequency: 100 # set to 0, to disable manual flight modes - mode: "cmd_vel_world" # one of cmd_rpy, cmd_vel_world + mode: "none" # one of none, cmd_rpy, cmd_vel_world cmd_rpy: roll: axis: 5 diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index d5df4b37d..be2ed1339 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -73,6 +73,11 @@ def generate_launch_description(): with open('tmp_motion_capture.yaml', 'w') as outfile: yaml.dump(motion_capture_content, outfile, default_flow_style=False, sort_keys=False) + telop_yaml_path = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'teleop.yaml') + return LaunchDescription([ DeclareLaunchArgument('backend', default_value='cpp'), DeclareLaunchArgument('debug', default_value='False'), @@ -102,7 +107,7 @@ def generate_launch_description(): # ('cmd_full_state', 'cf6/cmd_full_state'), # ('notify_setpoints_stop', 'cf6/notify_setpoints_stop'), ], - parameters= [PythonExpression(["'teleop.yaml' if '", LaunchConfiguration('teleop_yaml_file'), "' == '' else '", LaunchConfiguration('teleop_yaml_file'), "'"])], + parameters= [PythonExpression(["'" + telop_yaml_path +"' if '", LaunchConfiguration('teleop_yaml_file'), "' == '' else '", LaunchConfiguration('teleop_yaml_file'), "'"])], ), Node( package='joy',