From fa92240d9d288bf9af1650d8c91378aa5923468c Mon Sep 17 00:00:00 2001
From: Carl Delsey <carl.r.delsey@intel.com>
Date: Fri, 13 Sep 2019 10:49:16 -0700
Subject: [PATCH] Fix execute process calls to use new parameter format.
(#1113)
---
nav2_bringup/launch/nav2_simulation_launch.py | 16 ++++++++--------
.../src/updown/test_updown_launch.py | 18 +++++++++---------
2 files changed, 17 insertions(+), 17 deletions(-)
diff --git a/nav2_bringup/launch/nav2_simulation_launch.py b/nav2_bringup/launch/nav2_simulation_launch.py
index 471e3412..010d5d42 100644
--- a/nav2_bringup/launch/nav2_simulation_launch.py
+++ b/nav2_bringup/launch/nav2_simulation_launch.py
@@ -116,7 +116,7 @@ def generate_launch_description():
os.path.join(
get_package_share_directory('turtlebot3_description'),
'urdf', 'turtlebot3_waffle.urdf'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_rviz_cmd = launch.actions.ExecuteProcess(
@@ -134,7 +134,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_map_server'),
'lib/nav2_map_server/map_server'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_localizer_cmd = launch.actions.ExecuteProcess(
@@ -142,7 +142,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_amcl'),
'lib/nav2_amcl/amcl'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_planner_cmd = launch.actions.ExecuteProcess(
@@ -150,7 +150,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_navfn_planner'),
'lib/nav2_navfn_planner/navfn_planner'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_dwb_cmd = launch.actions.ExecuteProcess(
@@ -158,7 +158,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('dwb_controller'),
'lib/dwb_controller/dwb_controller'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_navigator_cmd = launch.actions.ExecuteProcess(
@@ -166,7 +166,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_bt_navigator'),
'lib/nav2_bt_navigator/bt_navigator'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_recovery_cmd = launch.actions.ExecuteProcess(
@@ -174,7 +174,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_recoveries'),
'lib/nav2_recoveries/recoveries_node'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
start_lifecycle_manager_cmd = launch.actions.ExecuteProcess(
@@ -182,7 +182,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_lifecycle_manager'),
'lib/nav2_lifecycle_manager/lifecycle_manager'),
- ['__params:=', configured_params]],
+ '--ros-args', '--params-file', configured_params],
cwd=[launch_dir], output='screen')
# Create the launch description and populate
diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py
index 2fe3cacf..b537b9e3 100755
--- a/nav2_system_tests/src/updown/test_updown_launch.py
+++ b/nav2_system_tests/src/updown/test_updown_launch.py
@@ -51,7 +51,7 @@ def generate_launch_description():
start_gazebo_cmd = launch.actions.ExecuteProcess(
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
world,
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_robot_state_publisher_cmd = launch.actions.ExecuteProcess(
@@ -60,7 +60,7 @@ def generate_launch_description():
get_package_prefix('robot_state_publisher'),
'lib/robot_state_publisher/robot_state_publisher'),
urdf,
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_map_server_cmd = launch.actions.ExecuteProcess(
@@ -68,7 +68,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_map_server'),
'lib/nav2_map_server/map_server'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_localizer_cmd = launch.actions.ExecuteProcess(
@@ -76,7 +76,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_amcl'),
'lib/nav2_amcl/amcl'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_dwb_cmd = launch.actions.ExecuteProcess(
@@ -84,7 +84,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('dwb_controller'),
'lib/dwb_controller/dwb_controller'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_planner_cmd = launch.actions.ExecuteProcess(
@@ -92,7 +92,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_navfn_planner'),
'lib/nav2_navfn_planner/navfn_planner'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_navigator_cmd = launch.actions.ExecuteProcess(
@@ -100,7 +100,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_bt_navigator'),
'lib/nav2_bt_navigator/bt_navigator'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
start_controller_cmd = launch.actions.ExecuteProcess(
@@ -108,7 +108,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_lifecycle_manager'),
'lib/nav2_lifecycle_manager/lifecycle_manager'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
startup_cmd = launch.actions.ExecuteProcess(
@@ -116,7 +116,7 @@ def generate_launch_description():
os.path.join(
get_package_prefix('nav2_system_tests'),
'lib/nav2_system_tests/test_updown'),
- '--ros-args', ['__params:=', params_file]],
+ '--ros-args', '--params-file', params_file],
cwd=[launch_dir], output='screen')
startup_exit_event_handler = launch.actions.RegisterEventHandler(
--
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