# Revision history [back]

ok Here I am again answering my own questions. I never did figure out how to print out the arguments inside a launchfile. I almost stopped doing robotics because this. The whole issue is because the navigation2.launch.py file provided by robotis in their turtlebot3_navigation package is using the WRONG parameter name

This is their code

IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
launch_arguments={
'map': map_dir,
'use_sim_time': use_sim_time,
'params': param_dir I think this is wrong should be params_file
}.items(),
),


This is the code that works

IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
launch_arguments={
'map': map_dir,
'use_sim_time': use_sim_time,
'params_file': param_dir
}.items(),

),


params Should be params_file

They never probably noticed that the local costmap parameters are not set and the default values are used. The default values work for their simulations but I had gone through extensive customizations in ros1 to to get the my burger to negotiate the tight spaces in my living room.

I wasted over 100 hours trying to track down why the robot would not go through the narrow space because I assumed the robotis packages had been fully tested. It would have helped if I could have printed the arguments being passed into the launch file so if anyone figured that out add a comment here.

Lesson learned do not assumed ros2 software has been tested. Also visually examine both side of the launch files hand off.