Correct way to change <xacro:arg name> in launch file

asked 2022-05-15 16:08:33 -0500

CroCo
153 ●24 ●39 ●51

updated 2022-05-15 16:09:15 -0500

I'm working with Husky in melodic (i.e. ubuntu 18.04). The laser option is disabled by default as shown below

<xacro:arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED 0)" />

When I start the launch file as follows

roslaunch husky_gazebo husky_empty_world.launch laser_enabled:=true

It doesn't change anything. What is the correct way to change this option? My current solution is to open the file as admin and change 0 to 1. This does slove the problem but it is not an optimal solution. Any suggestions!

answered 2022-05-15 16:43:10 -0500

ljaniec

3064 ●14 ●297 ●50 https://www.linkedin.c...

updated 2022-05-15 16:48:43 -0500

You can use Environment Variables for this:

http://wiki.ros.org/husky_bringup/Tut...

 HUSKY_LMS1XX_ENABLED    false    Enable/disable the SICK LMS1XX LIDAR

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what is the actual command that I need to type in the terminal to change these environment variables?

CroCo ( 2022-05-15 17:18:13 -0500 )edit

To set an environment variable the export command is used. You give the variable a name, which is what is used to access it in shell scripts and configurations and then a value to hold whatever data is needed in the variable, e.g. export NAME=VALUE, so there it would be export HUSKY_LMS1XX_ENABLED=true