From 99608c5cff0246cc9fe7c41300359a6e1db17a75 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Wed, 24 Apr 2024 18:05:45 +0200 Subject: [PATCH] Added parameters robot_param and robot_param_node (#275) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero (cherry picked from commit 53b6c74b02bf85860854a37f429b6e2ecf22a4be) --- .../src/gz_ros2_control_plugin.cpp | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp index b4769175..5b2d23b3 100644 --- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp +++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp @@ -102,11 +102,9 @@ class GazeboSimROS2ControlPluginPrivate controller_manager_{nullptr}; /// \brief String with the robot description param_name - // TODO(ahcorde): Add param in plugin tag std::string robot_description_ = "robot_description"; /// \brief String with the name of the node that contains the robot_description - // TODO(ahcorde): Add param in plugin tag std::string robot_description_node_ = "robot_state_publisher"; /// \brief Last time the update method was called @@ -285,6 +283,23 @@ void GazeboSimROS2ControlPlugin::Configure( return; } + // Get params from SDF + std::string robot_param_node = _sdf->Get("robot_param_node"); + if (!robot_param_node.empty()) { + this->dataPtr->robot_description_node_ = robot_param_node; + } + RCLCPP_INFO( + logger, + "robot_param_node is %s", this->dataPtr->robot_description_node_.c_str()); + + std::string robot_description = _sdf->Get("robot_param"); + if (!robot_description.empty()) { + this->dataPtr->robot_description_ = robot_description; + } + RCLCPP_INFO( + logger, + "robot_param_node is %s", this->dataPtr->robot_description_.c_str()); + std::vector arguments = {"--ros-args"}; auto sdfPtr = const_cast(_sdf.get());