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launch.py: add support to customize rviz.cfg file #554

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merged 1 commit into from
Aug 15, 2024
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launch.py: add support to customize rviz.cfg file #554

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9 changes: 8 additions & 1 deletion crazyflie/launch/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,11 @@ def generate_launch_description():
'config',
'motion_capture.yaml')

default_rviz_config_path = os.path.join(
get_package_share_directory('crazyflie'),
'config',
'config.rviz')

telop_yaml_path = os.path.join(
get_package_share_directory('crazyflie'),
'config',
Expand All @@ -111,6 +116,8 @@ def generate_launch_description():
default_value=default_crazyflies_yaml_path),
DeclareLaunchArgument('motion_capture_yaml_file',
default_value=default_motion_capture_yaml_path),
DeclareLaunchArgument('rviz_config_file',
default_value=default_rviz_config_path),
DeclareLaunchArgument('backend', default_value='cpp'),
DeclareLaunchArgument('debug', default_value='False'),
DeclareLaunchArgument('rviz', default_value='False'),
Expand Down Expand Up @@ -148,7 +155,7 @@ def generate_launch_description():
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d' + os.path.join(get_package_share_directory('crazyflie'), 'config', 'config.rviz')],
arguments=['-d', LaunchConfiguration('rviz_config_file')],
parameters=[{
"use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]),
}]
Expand Down
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