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BUG - Launch Params don't seem to work #148

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nspielbau opened this issue Nov 28, 2024 · 2 comments
Open

BUG - Launch Params don't seem to work #148

nspielbau opened this issue Nov 28, 2024 · 2 comments

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@nspielbau
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When setting a default tree through an advanced launch the param of the ROS Node is not set correctly

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare

def generate_module_list():
    module_list = [
        "ros_bt_py.nodes",
        "ros_bt_py.ros_nodes",
    ]
    return str(module_list)

def generate_launch_description():
    ros_bt_py_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                FindPackageShare("ros_bt_py"),
                "/launch",
                "/ros_bt_py.launch.py",
            ]
        ),
        launch_arguments={"node_modules": generate_module_list(),
            "load_default_tree": "True",
            "default_tree_path": "file:///home/spielbau/robot_folders/checkout/BT2/colcon_ws/src/eleme
ntarybt.yaml"}.items(),
    )

    return LaunchDescription(
        [
            ros_bt_py_launch
        ]
    )
@nspielbau
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This also happends for changing default values in the normal launch file, is there something really broken?

@nspielbau
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         {"node_modules": node_modules_value},
         {"tree_storage_paths": tree_storage_paths_value},
         {"show_traceback_on_exception": show_traceback_on_exception_value},
         {"diagnostics_frequency_hz": diagnostics_frequency_hz_value},
         {"default_tree.load_default_tree": load_default_tree_value},
         {
             "default_tree.load_default_tree_permissive": load_default_tree_permissive_value
         },
         {"default_tree.tree_path": 'default_tree_path'},
         {"default_tree.tick_frequency_hz": default_tree_tick_frequency_hz_value},
         {"default_tree.control_command": default_tree_control_command_value},
     ],

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