🔧 replacing xacro boot method

robossembler/launch/robossembler_bringup.launch.py

@@ -42,14 +42,18 @@ def generate_launch_description():
                 )
         )
 
-        # get xacro file path
+         # Load robot description
-        xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
+        robot_description_content = Command(
-        # get error if xacro file if missing
+                [
-        assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file)
+                FindExecutable(name="xacro"), " ",
-        # parse xacro file from file with arguments
+                PathJoinSubstitution(
-        robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"true",'robot_name':"rasmt"})
+                        [FindPackageShare("rasmt_support"), "urdf/rasmt.xacro"]
-        # convert file to xml format
+                ), " ",
-        robot_description_content = robot_description.toxml()
+                "robot_name:=", LaunchConfiguration("robot_name"), " ",
+                "sim:=", LaunchConfiguration("sim"), " ",
+                "grip:=", LaunchConfiguration("grip")
+                ]
+        )
 
         control = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(