Merge branch 'ros2' into caguero/air_pressure_demo_v2

gazebosim · Nov 22, 2024 · 4bb317f · 4bb317f
2 parents 80dd86a + 5c1251a
commit 4bb317f
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
@@ -175,6 +175,9 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
         if isinstance(self.__create_own_container, list):
             self.__create_own_container = self.__create_own_container[0]
 
+        if isinstance(self.__use_respawn, list):
+            self.__use_respawn = self.__use_respawn[0]
+
         # Standard node configuration
         load_nodes = GroupAction(
             condition=IfCondition(PythonExpression(['not ', self.__use_composition])),
@@ -185,7 +188,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                     name=self.__bridge_name,
                     namespace=self.__namespace,
                     output='screen',
-                    respawn=self.__use_respawn,
+                    respawn=bool(self.__use_respawn),
                     respawn_delay=2.0,
                     parameters=[{'config_file': self.__config_file, **parsed_bridge_params}],
                     arguments=['--ros-args', '--log-level', self.__log_level],

diff --git a/ros_gz_sim/ros_gz_sim/actions/gzserver.py b/ros_gz_sim/ros_gz_sim/actions/gzserver.py
@@ -23,7 +23,7 @@
 from launch.frontend import Entity, expose_action, Parser
 from launch.launch_context import LaunchContext
 from launch.some_substitutions_type import SomeSubstitutionsType
-from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.substitutions import PythonExpression
 from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
 from launch_ros.descriptions import ComposableNode
 
@@ -125,8 +125,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                     package='ros_gz_sim',
                     executable='gzserver',
                     output='screen',
-                    parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
-                                 'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
+                    parameters=[{'world_sdf_file': self.__world_sdf_file,
+                                 'world_sdf_string': self.__world_sdf_string}],
                 ),
             ],
         )
@@ -145,8 +145,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                     package='ros_gz_sim',
                     plugin='ros_gz_sim::GzServer',
                     name='gz_server',
-                    parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
-                                 'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
+                    parameters=[{'world_sdf_file': self.__world_sdf_file,
+                                 'world_sdf_string': self.__world_sdf_string}],
                     extra_arguments=[{'use_intra_process_comms': True}],
                 ),
             ],
@@ -166,8 +166,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                     package='ros_gz_sim',
                     plugin='ros_gz_sim::GzServer',
                     name='gz_server',
-                    parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
-                                 'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
+                    parameters=[{'world_sdf_file': self.__world_sdf_file,
+                                 'world_sdf_string': self.__world_sdf_string}],
                     extra_arguments=[{'use_intra_process_comms': True}],
                 ),
             ],