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[Humble Backport] Use ParameterFile (allow_substs) (#3706) #3806

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Merged
SteveMacenski merged 1 commit into from
Sep 12, 2023
Merged

[Humble Backport] Use ParameterFile (allow_substs) (#3706) #3806

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13 changes: 8 additions & 5 deletions nav2_bringup/launch/bringup_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import RewrittenYaml


Expand Down Expand Up @@ -58,11 +59,13 @@ def generate_launch_description():
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file}

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')
Expand Down
14 changes: 8 additions & 6 deletions nav2_bringup/launch/localization_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes
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


Expand Down Expand Up @@ -57,11 +57,13 @@ def generate_launch_description():
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file}

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')
Expand Down
8 changes: 5 additions & 3 deletions nav2_bringup/launch/navigation_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes
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


Expand Down Expand Up @@ -62,11 +62,13 @@ def generate_launch_description():
'use_sim_time': use_sim_time,
'autostart': autostart}

configured_params = RewrittenYaml(
configured_params = ParameterFile(
RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
convert_types=True),
allow_substs=True)

stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
Expand Down
13 changes: 8 additions & 5 deletions nav2_bringup/launch/slam_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import HasNodeParams, RewrittenYaml


Expand All @@ -46,11 +47,13 @@ def generate_launch_description():
param_substitutions = {
'use_sim_time': use_sim_time}

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)

# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
Expand Down
13 changes: 8 additions & 5 deletions nav2_collision_monitor/launch/collision_monitor_node.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import RewrittenYaml


Expand Down Expand Up @@ -59,11 +60,13 @@ def generate_launch_description():
param_substitutions = {
'use_sim_time': use_sim_time}

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)

# Nodes launching commands
start_lifecycle_manager_cmd = Node(
Expand Down