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Add launch configuration parameters for robot model and simulation se… - #28
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🟡 Changes recommended
Simulation configuration is inconsistent, and the command-topic argument is not consumed by the dependency.
Review effort: Balanced
Findings: 2
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What changed in this PR
Adds configurable launch arguments for Hunter base hardware, frames, topics, model, and simulation.
Changes:
- Declares seven new launch arguments.
- Forwards them to the included
hunter_baselaunch.
| File | Description |
|---|---|
hunter_pltf_bringup/launch/hunter_pltf_bringup.launch.py |
Adds and forwards Hunter base configuration options. |
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| odom_topic_name = LaunchConfiguration('odom_topic_name', default='odom') | ||
| cmd_vel_topic = LaunchConfiguration('cmd_vel_topic', default='/cmd_vel') | ||
| robot_model = LaunchConfiguration('robot_model', default='hunter2') | ||
| simulated_robot = LaunchConfiguration('simulated_robot', default='false') |
| 'odom_frame': odom_frame, | ||
| 'base_frame': base_frame, | ||
| 'odom_topic_name': odom_topic_name, | ||
| 'cmd_vel_topic': cmd_vel_topic, |
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This pull request adds several new launch arguments to the
hunter_pltf_bringup.launch.pylaunch file, increasing its configurability and flexibility. These arguments allow users to customize important parameters such as CAN bus interface, frame IDs, topic names, robot model, and simulation settings directly from the launch command line, making the launch process more adaptable to different deployment scenarios.New launch argument additions and integration:
LaunchConfigurationvariables forport_name,odom_frame,base_frame,odom_topic_name,cmd_vel_topic,robot_model, andsimulated_robotwith sensible default values to the launch file.DeclareLaunchArgumentfor each of the above parameters, providing descriptions for clarity and usability.hunter_base_nodenode parameters, ensuring these values are passed through to the node at launch time.