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Remove unnecessary environment variable setting #20

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merged 1 commit into from
Oct 8, 2024
Merged

Remove unnecessary environment variable setting #20

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17 changes: 1 addition & 16 deletions ionic_demo/launch/ionic_moveit_demo_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,30 +12,17 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from pathlib import Path

from ament_index_python.packages import get_package_share_directory, get_package_prefix
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare, FindPackagePrefix
from launch_xml.launch_description_sources import XMLLaunchDescriptionSource

from launch import LaunchDescription
from launch.actions import AppendEnvironmentVariable, IncludeLaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, TextSubstitution


def generate_launch_description():
rmf_demo_assets_dir = Path(get_package_share_directory('rmf_demos_assets')) / 'models'
rmf_plugins_dir = Path(get_package_prefix('rmf_robot_sim_gz_plugins')) / 'lib' / 'rmf_robot_sim_gz_plugins'

set_resource_path_vars = AppendEnvironmentVariable(
'GZ_SIM_RESOURCE_PATH', str(rmf_demo_assets_dir)
)
set_plugin_path_vars = AppendEnvironmentVariable(
'GZ_SIM_SYSTEM_PLUGIN_PATH', str(rmf_plugins_dir)
)

coke_can_string = \
'''
<sdf version="1.6">
Expand All @@ -49,8 +36,6 @@ def generate_launch_description():
'''

return LaunchDescription([
set_resource_path_vars,
set_plugin_path_vars,
IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
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