Use xacro file to plumb namespace into gz topics (#4450)

This also removes the `use_simulator` launch argument since it's not needed by spawn_tb3.launch.py Signed-off-by: Addisu Z. Taddese <[email protected]>
ros-navigation · Jun 19, 2024 · ad04118 · ad04118
1 parent 523a075
commit ad04118
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -160,7 +160,7 @@ def generate_launch_description():
 
     declare_robot_sdf_cmd = DeclareLaunchArgument(
         'robot_sdf',
-        default_value=os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf'),
+        default_value=os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro'),
         description='Full path to robot sdf file to spawn the robot in gazebo',
     )
 
@@ -241,7 +241,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')),
         launch_arguments={'namespace': namespace,
-                          'use_simulator': use_simulator,
                           'use_sim_time': use_sim_time,
                           'robot_name': robot_name,
                           'robot_sdf': robot_sdf,