From 7ad9241857babfe1eb903dd6211b40737bdecf5b Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Thu, 21 Nov 2024 10:28:10 +0800 Subject: [PATCH] Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova --- nav2_bringup/launch/bringup_launch.py | 22 ++----------------- .../cloned_multi_tb3_simulation_launch.py | 2 -- .../launch/tb3_loopback_simulation.launch.py | 10 --------- nav2_bringup/launch/tb3_simulation_launch.py | 10 --------- .../launch/tb4_loopback_simulation.launch.py | 10 --------- nav2_bringup/launch/tb4_simulation_launch.py | 10 --------- .../unique_multi_tb3_simulation_launch.py | 2 -- .../launch/assisted_teleop_example_launch.py | 2 +- .../launch/follow_path_example_launch.py | 2 +- .../launch/inspection_demo_launch.py | 2 +- .../nav_through_poses_example_launch.py | 2 +- .../launch/nav_to_pose_example_launch.py | 2 +- .../launch/picking_demo_launch.py | 2 +- .../launch/recoveries_example_launch.py | 2 +- .../launch/security_demo_launch.py | 2 +- .../waypoint_follower_example_launch.py | 2 +- .../costmap_filters/test_keepout_launch.py | 1 - .../src/costmap_filters/test_speed_launch.py | 1 - .../src/gps_navigation/test_case_py.launch.py | 1 - .../src/system/test_system_launch.py | 1 - .../test_system_with_obstacle_launch.py | 1 - .../src/system/test_wrong_init_pose_launch.py | 1 - .../test_system_failure_launch.py | 1 - .../planning_benchmark_bringup.py | 2 +- .../smoother_benchmark_bringup.py | 2 +- 25 files changed, 13 insertions(+), 82 deletions(-) diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py index eee19f6b362..a5f6b9c3dc4 100644 --- a/nav2_bringup/launch/bringup_launch.py +++ b/nav2_bringup/launch/bringup_launch.py @@ -29,7 +29,7 @@ from launch_ros.actions import Node from launch_ros.actions import PushROSNamespace from launch_ros.descriptions import ParameterFile -from nav2_common.launch import ReplaceString, RewrittenYaml +from nav2_common.launch import RewrittenYaml def generate_launch_description(): @@ -39,7 +39,6 @@ def generate_launch_description(): # Create the launch configuration variables namespace = LaunchConfiguration('namespace') - use_namespace = LaunchConfiguration('use_namespace') slam = LaunchConfiguration('slam') map_yaml_file = LaunchConfiguration('map') use_sim_time = LaunchConfiguration('use_sim_time') @@ -58,16 +57,6 @@ def generate_launch_description(): # https://github.com/ros2/launch_ros/issues/56 remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] - # Only it applys when `use_namespace` is True. - # '' keyword shall be replaced by 'namespace' launch argument - # in config file 'nav2_multirobot_params.yaml' as a default & example. - # User defined config file should contain '' keyword for the replacements. - params_file = ReplaceString( - source_file=params_file, - replacements={'': ('/', namespace)}, - condition=IfCondition(use_namespace), - ) - configured_params = ParameterFile( RewrittenYaml( source_file=params_file, @@ -86,12 +75,6 @@ def generate_launch_description(): 'namespace', default_value='', description='Top-level namespace' ) - declare_use_namespace_cmd = DeclareLaunchArgument( - 'use_namespace', - default_value='false', - description='Whether to apply a namespace to the navigation stack', - ) - declare_slam_cmd = DeclareLaunchArgument( 'slam', default_value='False', description='Whether run a SLAM' ) @@ -142,7 +125,7 @@ def generate_launch_description(): # Specify the actions bringup_cmd_group = GroupAction( [ - PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace), + PushROSNamespace(namespace), Node( condition=IfCondition(use_composition), name='nav2_container', @@ -207,7 +190,6 @@ def generate_launch_description(): # Declare the launch options ld.add_action(declare_namespace_cmd) - ld.add_action(declare_use_namespace_cmd) ld.add_action(declare_slam_cmd) ld.add_action(declare_map_yaml_cmd) ld.add_action(declare_use_sim_time_cmd) diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py index b96005c78ff..6bd6bdddcab 100644 --- a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py +++ b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py @@ -144,7 +144,6 @@ def generate_launch_description(): condition=IfCondition(use_rviz), launch_arguments={ 'namespace': TextSubstitution(text=robot_name), - 'use_namespace': 'True', 'rviz_config': rviz_config_file, }.items(), ), @@ -154,7 +153,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': robot_name, - 'use_namespace': 'True', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': params_file, diff --git a/nav2_bringup/launch/tb3_loopback_simulation.launch.py b/nav2_bringup/launch/tb3_loopback_simulation.launch.py index 9e598e854cf..3553852597c 100644 --- a/nav2_bringup/launch/tb3_loopback_simulation.launch.py +++ b/nav2_bringup/launch/tb3_loopback_simulation.launch.py @@ -42,7 +42,6 @@ def generate_launch_description(): # Create the launch configuration variables namespace = LaunchConfiguration('namespace') - use_namespace = LaunchConfiguration('use_namespace') map_yaml_file = LaunchConfiguration('map') params_file = LaunchConfiguration('params_file') autostart = LaunchConfiguration('autostart') @@ -61,12 +60,6 @@ def generate_launch_description(): 'namespace', default_value='', description='Top-level namespace' ) - declare_use_namespace_cmd = DeclareLaunchArgument( - 'use_namespace', - default_value='false', - description='Whether to apply a namespace to the navigation stack', - ) - declare_map_yaml_cmd = DeclareLaunchArgument( 'map', default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'), @@ -134,7 +127,6 @@ def generate_launch_description(): condition=IfCondition(use_rviz), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'use_sim_time': 'True', 'rviz_config': rviz_config_file, }.items(), @@ -144,7 +136,6 @@ def generate_launch_description(): PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': params_file, @@ -203,7 +194,6 @@ def generate_launch_description(): # Declare the launch options ld.add_action(declare_namespace_cmd) - ld.add_action(declare_use_namespace_cmd) ld.add_action(declare_map_yaml_cmd) ld.add_action(declare_params_file_cmd) ld.add_action(declare_autostart_cmd) diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py index db1964f955e..532d8ea24fa 100644 --- a/nav2_bringup/launch/tb3_simulation_launch.py +++ b/nav2_bringup/launch/tb3_simulation_launch.py @@ -44,7 +44,6 @@ def generate_launch_description(): # Create the launch configuration variables slam = LaunchConfiguration('slam') namespace = LaunchConfiguration('namespace') - use_namespace = LaunchConfiguration('use_namespace') map_yaml_file = LaunchConfiguration('map') use_sim_time = LaunchConfiguration('use_sim_time') params_file = LaunchConfiguration('params_file') @@ -77,12 +76,6 @@ def generate_launch_description(): 'namespace', default_value='', description='Top-level namespace' ) - declare_use_namespace_cmd = DeclareLaunchArgument( - 'use_namespace', - default_value='false', - description='Whether to apply a namespace to the navigation stack', - ) - declare_slam_cmd = DeclareLaunchArgument( 'slam', default_value='False', description='Whether run a SLAM' ) @@ -186,7 +179,6 @@ def generate_launch_description(): condition=IfCondition(use_rviz), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'use_sim_time': use_sim_time, 'rviz_config': rviz_config_file, }.items(), @@ -196,7 +188,6 @@ def generate_launch_description(): PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'slam': slam, 'map': map_yaml_file, 'use_sim_time': use_sim_time, @@ -255,7 +246,6 @@ def generate_launch_description(): # Declare the launch options ld.add_action(declare_namespace_cmd) - ld.add_action(declare_use_namespace_cmd) ld.add_action(declare_slam_cmd) ld.add_action(declare_map_yaml_cmd) ld.add_action(declare_use_sim_time_cmd) diff --git a/nav2_bringup/launch/tb4_loopback_simulation.launch.py b/nav2_bringup/launch/tb4_loopback_simulation.launch.py index 0ad911ddc74..5373efbfab3 100644 --- a/nav2_bringup/launch/tb4_loopback_simulation.launch.py +++ b/nav2_bringup/launch/tb4_loopback_simulation.launch.py @@ -42,7 +42,6 @@ def generate_launch_description(): # Create the launch configuration variables namespace = LaunchConfiguration('namespace') - use_namespace = LaunchConfiguration('use_namespace') map_yaml_file = LaunchConfiguration('map') params_file = LaunchConfiguration('params_file') autostart = LaunchConfiguration('autostart') @@ -61,12 +60,6 @@ def generate_launch_description(): 'namespace', default_value='', description='Top-level namespace' ) - declare_use_namespace_cmd = DeclareLaunchArgument( - 'use_namespace', - default_value='false', - description='Whether to apply a namespace to the navigation stack', - ) - declare_map_yaml_cmd = DeclareLaunchArgument( 'map', default_value=os.path.join(bringup_dir, 'maps', 'depot.yaml'), # Try warehouse.yaml! @@ -132,7 +125,6 @@ def generate_launch_description(): condition=IfCondition(use_rviz), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'use_sim_time': 'True', 'rviz_config': rviz_config_file, }.items(), @@ -142,7 +134,6 @@ def generate_launch_description(): PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': params_file, @@ -210,7 +201,6 @@ def generate_launch_description(): # Declare the launch options ld.add_action(declare_namespace_cmd) - ld.add_action(declare_use_namespace_cmd) ld.add_action(declare_map_yaml_cmd) ld.add_action(declare_params_file_cmd) ld.add_action(declare_autostart_cmd) diff --git a/nav2_bringup/launch/tb4_simulation_launch.py b/nav2_bringup/launch/tb4_simulation_launch.py index 463f0c17f34..0765ceb4341 100644 --- a/nav2_bringup/launch/tb4_simulation_launch.py +++ b/nav2_bringup/launch/tb4_simulation_launch.py @@ -48,7 +48,6 @@ def generate_launch_description(): # Create the launch configuration variables slam = LaunchConfiguration('slam') namespace = LaunchConfiguration('namespace') - use_namespace = LaunchConfiguration('use_namespace') map_yaml_file = LaunchConfiguration('map') use_sim_time = LaunchConfiguration('use_sim_time') params_file = LaunchConfiguration('params_file') @@ -81,12 +80,6 @@ def generate_launch_description(): 'namespace', default_value='', description='Top-level namespace' ) - declare_use_namespace_cmd = DeclareLaunchArgument( - 'use_namespace', - default_value='false', - description='Whether to apply a namespace to the navigation stack', - ) - declare_slam_cmd = DeclareLaunchArgument( 'slam', default_value='False', description='Whether run a SLAM' ) @@ -187,7 +180,6 @@ def generate_launch_description(): condition=IfCondition(use_rviz), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'use_sim_time': use_sim_time, 'rviz_config': rviz_config_file, }.items(), @@ -197,7 +189,6 @@ def generate_launch_description(): PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), launch_arguments={ 'namespace': namespace, - 'use_namespace': use_namespace, 'slam': slam, 'map': map_yaml_file, 'use_sim_time': use_sim_time, @@ -261,7 +252,6 @@ def generate_launch_description(): # Declare the launch options ld.add_action(declare_namespace_cmd) - ld.add_action(declare_use_namespace_cmd) ld.add_action(declare_slam_cmd) ld.add_action(declare_map_yaml_cmd) ld.add_action(declare_use_sim_time_cmd) diff --git a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py index d377b1796d6..862a0083799 100644 --- a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py +++ b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py @@ -162,7 +162,6 @@ def generate_launch_description(): condition=IfCondition(use_rviz), launch_arguments={ 'namespace': TextSubstitution(text=robot['name']), - 'use_namespace': 'True', 'rviz_config': rviz_config_file, }.items(), ), @@ -172,7 +171,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': robot['name'], - 'use_namespace': 'True', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': params_file, diff --git a/nav2_simple_commander/launch/assisted_teleop_example_launch.py b/nav2_simple_commander/launch/assisted_teleop_example_launch.py index 90abfcad8a7..ad3119ce441 100644 --- a/nav2_simple_commander/launch/assisted_teleop_example_launch.py +++ b/nav2_simple_commander/launch/assisted_teleop_example_launch.py @@ -114,7 +114,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/follow_path_example_launch.py b/nav2_simple_commander/launch/follow_path_example_launch.py index 84de9257a77..b07fef9ba68 100644 --- a/nav2_simple_commander/launch/follow_path_example_launch.py +++ b/nav2_simple_commander/launch/follow_path_example_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/inspection_demo_launch.py b/nav2_simple_commander/launch/inspection_demo_launch.py index 7394f494338..be98c14150d 100644 --- a/nav2_simple_commander/launch/inspection_demo_launch.py +++ b/nav2_simple_commander/launch/inspection_demo_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/nav_through_poses_example_launch.py b/nav2_simple_commander/launch/nav_through_poses_example_launch.py index 8dc297d010f..593ee1e8816 100644 --- a/nav2_simple_commander/launch/nav_through_poses_example_launch.py +++ b/nav2_simple_commander/launch/nav_through_poses_example_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/nav_to_pose_example_launch.py b/nav2_simple_commander/launch/nav_to_pose_example_launch.py index 52192c0a2d6..c3e22fb08d3 100644 --- a/nav2_simple_commander/launch/nav_to_pose_example_launch.py +++ b/nav2_simple_commander/launch/nav_to_pose_example_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/picking_demo_launch.py b/nav2_simple_commander/launch/picking_demo_launch.py index 65c49af0b52..f4bd8346013 100644 --- a/nav2_simple_commander/launch/picking_demo_launch.py +++ b/nav2_simple_commander/launch/picking_demo_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/recoveries_example_launch.py b/nav2_simple_commander/launch/recoveries_example_launch.py index 429d5d3bd37..c7afd73f31c 100644 --- a/nav2_simple_commander/launch/recoveries_example_launch.py +++ b/nav2_simple_commander/launch/recoveries_example_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/security_demo_launch.py b/nav2_simple_commander/launch/security_demo_launch.py index 4872c031c22..240f430b236 100644 --- a/nav2_simple_commander/launch/security_demo_launch.py +++ b/nav2_simple_commander/launch/security_demo_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_simple_commander/launch/waypoint_follower_example_launch.py b/nav2_simple_commander/launch/waypoint_follower_example_launch.py index d87fd8ea11d..10f36ce7922 100644 --- a/nav2_simple_commander/launch/waypoint_follower_example_launch.py +++ b/nav2_simple_commander/launch/waypoint_follower_example_launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) # start navigation diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py index f0d7d924de7..bb43001b5b9 100755 --- a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py +++ b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py @@ -152,7 +152,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': new_yaml, diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py index 38492a53bc6..281aed36250 100755 --- a/nav2_system_tests/src/costmap_filters/test_speed_launch.py +++ b/nav2_system_tests/src/costmap_filters/test_speed_launch.py @@ -150,7 +150,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': new_yaml, diff --git a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py index 3dd082c1918..cb11b2c36d7 100755 --- a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py +++ b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py @@ -102,7 +102,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'use_sim_time': 'True', 'params_file': configured_params, 'use_composition': 'False', diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py index 439a82e8962..fb4d3625880 100755 --- a/nav2_system_tests/src/system/test_system_launch.py +++ b/nav2_system_tests/src/system/test_system_launch.py @@ -129,7 +129,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': new_yaml, diff --git a/nav2_system_tests/src/system/test_system_with_obstacle_launch.py b/nav2_system_tests/src/system/test_system_with_obstacle_launch.py index 4f6cc09ffb5..b31f19bdd61 100755 --- a/nav2_system_tests/src/system/test_system_with_obstacle_launch.py +++ b/nav2_system_tests/src/system/test_system_with_obstacle_launch.py @@ -142,7 +142,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': new_yaml, diff --git a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py index c6fbe3f9548..31e1b8af411 100755 --- a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py +++ b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py @@ -128,7 +128,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': new_yaml, diff --git a/nav2_system_tests/src/system_failure/test_system_failure_launch.py b/nav2_system_tests/src/system_failure/test_system_failure_launch.py index 8adb3617977..0cbc76533e2 100755 --- a/nav2_system_tests/src/system_failure/test_system_failure_launch.py +++ b/nav2_system_tests/src/system_failure/test_system_failure_launch.py @@ -117,7 +117,6 @@ def generate_launch_description(): ), launch_arguments={ 'namespace': '', - 'use_namespace': 'False', 'map': map_yaml_file, 'use_sim_time': 'True', 'params_file': new_yaml, diff --git a/tools/planner_benchmarking/planning_benchmark_bringup.py b/tools/planner_benchmarking/planning_benchmark_bringup.py index 8ed9f400168..05c61a6284d 100644 --- a/tools/planner_benchmarking/planning_benchmark_bringup.py +++ b/tools/planner_benchmarking/planning_benchmark_bringup.py @@ -94,7 +94,7 @@ def generate_launch_description(): PythonLaunchDescriptionSource( os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ), ] ) diff --git a/tools/smoother_benchmarking/smoother_benchmark_bringup.py b/tools/smoother_benchmarking/smoother_benchmark_bringup.py index dd1380f0b23..c19d1f2f703 100644 --- a/tools/smoother_benchmarking/smoother_benchmark_bringup.py +++ b/tools/smoother_benchmarking/smoother_benchmark_bringup.py @@ -107,7 +107,7 @@ def generate_launch_description(): PythonLaunchDescriptionSource( os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') ), - launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + launch_arguments={'namespace': ''}.items(), ) metrics_cmd = ExecuteProcess(