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ros-industrial-consortium / scan_n_plan_workshop

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Pass `robot_description` content directly to `ros2_control.launch.py` #78

Open marip8 opened 4 months ago

marip8 commented 4 months ago

Rather than having the ros2_control.launch.py file re-run xacro on an input file, we should just pass the content of robot_description directly as an argument. This should help make the launch process simpler since ROS2 control arguments typically need to be provided to xacro (e.g., use_fake_hardware). Rather than doing this in multiple places, we can invoke xacro once with the desired arguments in the top-level launch file and pass around the contents of robot_description to the other launch files that need it

https://github.com/ros-industrial-consortium/scan_n_plan_workshop/blob/c1cde0f508a21c59377af66e1179397da36d851b/snp_motion_execution/launch/ros2_control.launch.py#L10

marip8 commented 4 months ago

@DavidSpielman can you make a PR for this?