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fix(tier4_vehicle_launch): remove unnecessary config_dir #436

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merged 4 commits into from
Feb 24, 2022
Merged

fix(tier4_vehicle_launch): remove unnecessary config_dir #436

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f7bd229
fix(tier4_vehicle_launch): remove unnecessary config_dir
Feb 22, 2022
abec038
refactor: rename arg
Feb 22, 2022
9c51b41
remove vehicle_description.launch.xml to simplify the structure
Feb 22, 2022
55e25d1
chore: simplify vehicle.xacro
Feb 22, 2022
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10 changes: 4 additions & 6 deletions launch/tier4_vehicle_launch/launch/vehicle.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,12 @@

<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>


<!-- vehicle description -->
<group>
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle_description.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_id" value="$(var vehicle_id)"/>
</include>
<arg name="model_file" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
<param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model)')"/>
</node>
</group>

<!-- vehicle interface -->
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15 changes: 0 additions & 15 deletions launch/tier4_vehicle_launch/launch/vehicle_description.launch.xml
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5 changes: 1 addition & 4 deletions launch/tier4_vehicle_launch/urdf/vehicle.xacro
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Original file line number Diff line number Diff line change
@@ -1,7 +1,5 @@
<?xml version="1.0"?>
<robot name="vehicle"
xmlns:xacro="http://ros.org/wiki/xacro">

<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="vehicle_model" default=""/>
<xacro:arg name="sensor_model" default=""/>

Expand All @@ -12,5 +10,4 @@
<!-- sensors -->
<xacro:property name="sensor_model_property" value="$(arg sensor_model)"/>
<xacro:include filename="$(find ${sensor_model_property}_description)/urdf/sensors.xacro"/>

</robot>