Open robert-ros opened 1 year ago
I think the solution is so complex and it is not necessary to add an additional boolean argument and conditional structures. I propose to add xacro_robot_path argument directly in summit_xl_complete.launch and summit_xl_gazebo.launch to set summit_xl_robot.launch argument. The default value of xacro_robot_path should be the same as the default value of this argument in summit_xl_robot.launch for melodic-devel branch:
<arg name="xacro_robot_path" default="$(eval find(xacro_robot_package) + '/robots/' + xacro_robot)"/>
If you want to use a custom path, setting this parameter when launching the simulation should be enough.
roslaunch summit_xl_sim summit_xl_complete.launch xacro_robot_path:="/my/custom/path"
In theory, it should override the deafult value for the xacro_robot_path (that depends on the other arguments only if uses default values)
Great idea, although I agree with Alex in making it as simple as possible. Just one xacro path for all the possible robots should be fine.
This commit allows to use a custom xacro path.
Until now, you can select the xacro package, but it is hardcoded for
/robot/
path. For example, you can selectrobot_bringup
as robot package, but the full path will berobot_bringup/robots/summit_xl_std.urdf.xacro
This commit implements the
use_custom_xacro_path
andcustom_xacro_path
parameters.When
custom_xacro_path
is set toFalse
, the default path issummit_xl_description/robots/
. If it set toTrue
the path will becustom_xacro_path
.This commit with the default parameters does not affect to the normal behaviour of the simulation.