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ROS2: using xacro in launch file - passing parameters [closed]

asked 2020-04-17 20:20:23 -0600

relffok gravatar image

updated 2020-04-17 20:20:38 -0600

Hi there,

I've been using xacro.process_file(<file_name>)to convert from xacro to urdf, it works just fine. Now I have implemented a xacro argument in my file and I want to pass that from my launch file. It just doesn't get read with my current implementation.

XACRO:

<xacro:arg name="simulate_obstacles" default="true"/>
<xacro:if value="$(arg simulate_obstacles)">
  <...doing_something...>  
</xacro:if>

LAUNCH FILE:

doc = xacro.process_file(xacro_file, simulate_obstacles='false')

When running the xacro from the commandline I don't have any problem passing arguments. What am I doing wrong here? Or is there even a more simple way to use xacro in launch files in ROS2?

Thank you!

Working with eloquent.

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Closed for the following reason the question is answered, right answer was accepted by relffok
close date 2021-09-30 06:39:26.079969

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answered 2020-04-20 13:56:20 -0600

relffok gravatar image

Hi, it seems like this fixes the issue:

doc = xacro.process_file(xacro_file, mappings={'simulate_obstacles' : 'false'})

In case there is or will be a better way to include xacro in ros2 launch files at some point, feel free to let me know!

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Asked: 2020-04-17 20:20:23 -0600

Seen: 745 times

Last updated: Apr 20 '20