Use ParameterFile (allow_substs)

Signed-off-by: ymd-stella <world.applepie@gmail.com>

Author: ymd-stella

nav2_bringup/launch/bringup_launch.py

@@ -53,11 +53,13 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites={},
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites={},
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

nav2_bringup/launch/localization_launch.py

@@ -55,11 +55,13 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites={},
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites={},
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

nav2_bringup/launch/navigation_launch.py

@@ -22,7 +22,7 @@
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import LoadComposableNodes, SetParameter
 from launch_ros.actions import Node
-from launch_ros.descriptions import ComposableNode
+from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import RewrittenYaml
 
 
@@ -61,11 +61,13 @@ def generate_launch_description():
     param_substitutions = {
         'autostart': autostart}
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

nav2_bringup/launch/slam_launch.py

@@ -43,11 +43,13 @@ def generate_launch_description():
     slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py')
 
     # Create our own temporary YAML files that include substitutions
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites={},
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites={},
+            convert_types=True),
+        allow_substs=True)
 
     # Declare the launch arguments
     declare_namespace_cmd = DeclareLaunchArgument(

nav2_collision_monitor/launch/collision_monitor_node.launch.py

@@ -73,11 +73,13 @@ def generate_launch_description():
         'container_name', default_value='nav2_container',
         description='the name of conatiner that nodes will load in if use composition')
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites={},
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites={},
+            convert_types=True),
+        allow_substs=True)
 
     # Declare node launching commands
     load_nodes = GroupAction(