robossembler/runtime
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update, add conditions and fix mistakes

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This commit is contained in:
Ilya Uraev 2023-07-24 15:39:32 +03:00
parent ef563a5dc0
commit 5314c1adf5
3 changed files with 63 additions and 38 deletions
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3
rbs_bringup/launch/control.launch.py
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@ -43,7 +43,7 @@ def generate_launch_description():
description="YAML file with the controllers configuration.",
)
)
robot_description = LaunchConfiguration("robot_description")
robot_description_content = LaunchConfiguration("robot_description")
runtime_config_package = LaunchConfiguration("runtime_config_package")
controllers_file = LaunchConfiguration("controllers_file")
start_joint_controller = LaunchConfiguration("start_joint_controller")
@ -53,6 +53,7 @@ def generate_launch_description():
initial_joint_controllers_file_path = PathJoinSubstitution(
[FindPackageShare(runtime_config_package), "config", controllers_file]
)
robot_description = {"robot_description": robot_description_content}
control_node = Node(
package="controller_manager",