[WIP/For discussion]: Including parameters in python based launch file#209
[WIP/For discussion]: Including parameters in python based launch file#209JafarAbdi wants to merge 1 commit intomoveit:mainfrom
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I like how much cleaner things get - I wonder if it makes sense to try and upstream some of these utilities into ros2_launch itself - seems every project is creating some version of these in their ROS2 repo. |
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@JafarAbdi thanks for starting this! It really looks much cleaner and I like the approach in general. My suggestion would be to use a specific name and structure convention for pure parameter files, meaning the old |
DLu
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- We should open a ticket upstream to get the MoveIt! helpers merged into ROS 2 Launch.
- This currently has conflicts, but otherwise looks good.
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Also, are there plans to release |
davetcoleman
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This seems like a no-brainer code cleanup PR, just needs conflicts resolved.
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| from moveit_helpers.get_parameters_module import get_parameters_module, load_file, load_yaml |
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@DLu is wondering if this should be a standard helping function in ros2 launch, vs a moveit_helper function
Not sure if this really makes a lot of sense at this point. While this PR includes some nice cleanup attempts, I'm not convinced that this is a good long-term solution. It doesn't help a lot with reducing launch file redundancy and we should probably rather use the native way of loading yaml files instead of |
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Replaced by #591 |
Description
Right now to launch a MoveIt 2 node we will list all the parameters manually example, this's a proposal to do something similar to ROS example
This's based on this commit and this package
I did try to declare the args in the other launch files using
DeclareLaunchArgumentand include them withPythonLaunchDescriptionSource/IncludeLaunchDescriptionand propagate the arguments withget_launch_arguments()but the solution was complicated and even it didn't work with arguments with non-default valuesI Opened a PR rather than an issue just so you can easily see the diff for this package
The naming and the structure of moveit_helpers need some changes, this's just a draft