From 238eb2a0e847d2f8416a9ec5a5649715096909f9 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 7 Jun 2021 17:56:04 +0200
Subject: [PATCH] Add sim_config argument to choose yaml file to load
---
launch/description.launch | 3 ++-
urdf/ana.xacro | 3 ++-
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/launch/description.launch b/launch/description.launch
index 23ad7e3..63559f7 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -3,13 +3,14 @@
<arg name="ns" default="ana"/>
<arg name="model" default="ana"/>
+ <arg name="sim_config" default="$(find iri_ana_gazebo)/config/ana_sim_config.yaml"/>
<arg name="state_pub" default="true" />
<arg name="static_wheels" default="false" />
<group ns="$(arg ns)">
<param name="robot_description"
- command="$(find xacro)/xacro '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
+ command="$(find xacro)/xacro '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns) sim_config:=$(arg sim_config)" />
<node if="$(arg state_pub)"
pkg="robot_state_publisher"
diff --git a/urdf/ana.xacro b/urdf/ana.xacro
index 8e15c99..f362926 100644
--- a/urdf/ana.xacro
+++ b/urdf/ana.xacro
@@ -3,11 +3,12 @@
<robot name="ana" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="name" default="ana"/>
+ <xacro:arg name="sim_config" default="$(find iri_ana_gazebo)/config/ana_sim_config.yaml"/>
<xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
<xacro:include filename="$(find iri_ana_description)/urdf/include/sensors.xacro" />
- <xacro:pioneer3 name="$(arg name)" sim_config="$(find iri_ana_gazebo)/config/ana_sim_config.yaml">
+ <xacro:pioneer3 name="$(arg name)" sim_config="$(arg sim_config)">
</xacro:pioneer3>
<xacro:sensors name="$(arg name)" parent="top_plate">
--
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