fix

webots_ros2_universal_robot/launch/robot_launch/robot_nodes_launch.py

@@ -25,95 +25,88 @@
 from webots_ros2_driver.webots_controller import WebotsController
 
 
-PACKAGE_NAME = "webots_ros2_universal_robot"
+PACKAGE_NAME = 'webots_ros2_universal_robot'
 
 
 def generate_launch_description():
     package_dir = get_package_share_directory(PACKAGE_NAME)
-    robot_description_path = os.path.join(
-        package_dir, "resource", "ur5e_with_gripper.urdf"
-    )
-    ros2_control_params = os.path.join(
-        package_dir, "resource", "ros2_control_config.yaml"
-    )
+    robot_description_path = os.path.join(package_dir, 'resource', 'ur5e_with_gripper.urdf')
+    ros2_control_params = os.path.join(package_dir, 'resource', 'ros2_control_config.yaml')
 
     # Define your URDF robots here
     # The name of an URDF robot has to match the name of the robot of the driver node
     # You can specify the URDF file to use with "urdf_path"
     spawn_URDF_ur5e = URDFSpawner(
-        name="UR5e",
+        name='UR5e',
         urdf_path=robot_description_path,
-        translation="0 0 0.6",
-        rotation="0 0 1 -1.5708",
+        translation='0 0 0.6',
+        rotation='0 0 1 -1.5708',
     )
 
     # Driver nodes
     # When having multiple robot it is mandatory to specify the robot name.
     universal_robot_driver = WebotsController(
-        robot_name="UR5e",
-        namespace="ur5e",
+        robot_name='UR5e',
+        namespace='ur5e',
         parameters=[
-            {"robot_description": robot_description_path},
-            {"use_sim_time": True},
-            {"set_robot_state_publisher": True},
-            ros2_control_params,
+            {'robot_description': robot_description_path},
+            {'use_sim_time': True},
+            {'set_robot_state_publisher': True},
+            ros2_control_params
         ],
     )
 
     # Other ROS 2 nodes
-    controller_manager_timeout = ["--controller-manager-timeout", "100"]
-    controller_manager_prefix = "python.exe" if os.name == "nt" else ""
+    controller_manager_timeout = ['--controller-manager-timeout', '100']
+    controller_manager_prefix = 'python.exe' if os.name == 'nt' else ''
     trajectory_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        output="screen",
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
         prefix=controller_manager_prefix,
-        arguments=["ur_joint_trajectory_controller", "-c", "ur5e/controller_manager"]
-        + controller_manager_timeout
-        + ["--param-file", ros2_control_params],
+        arguments=['ur_joint_trajectory_controller', '-c', 'ur5e/controller_manager'] + controller_manager_timeout,
     )
 
     joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        output="screen",
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
         prefix=controller_manager_prefix,
-        arguments=["ur_joint_state_broadcaster", "-c", "ur5e/controller_manager"]
-        + controller_manager_timeout
-        + ["--param-file", ros2_control_params],
+        arguments=['ur_joint_state_broadcaster', '-c', 'ur5e/controller_manager'] + controller_manager_timeout,
     )
 
     robot_state_publisher = Node(
-        package="robot_state_publisher",
-        namespace="ur5e",
-        executable="robot_state_publisher",
-        output="screen",
-        parameters=[{"robot_description": '<robot name=""><link name=""/></robot>'}],
+        package='robot_state_publisher',
+        namespace='ur5e',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[{
+            'robot_description': '<robot name=""><link name=""/></robot>'
+        }],
     )
 
-    return LaunchDescription(
-        [
-            # Request to spawn the URDF robot
-            spawn_URDF_ur5e,
-            # Other ROS 2 nodes
-            robot_state_publisher,
-            trajectory_controller_spawner,
-            joint_state_broadcaster_spawner,
-            # Launch the driver node once the URDF robot is spawned
-            launch.actions.RegisterEventHandler(
-                event_handler=launch.event_handlers.OnProcessIO(
-                    target_action=spawn_URDF_ur5e,
-                    on_stdout=lambda event: get_webots_driver_node(
-                        event, universal_robot_driver
-                    ),
-                )
-            ),
-            # Kill all the nodes when the driver node is shut down
-            launch.actions.RegisterEventHandler(
-                event_handler=launch.event_handlers.OnProcessExit(
-                    target_action=universal_robot_driver,
-                    on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
-                )
-            ),
-        ]
-    )
+    return LaunchDescription([
+        # Request to spawn the URDF robot
+        spawn_URDF_ur5e,
+
+        # Other ROS 2 nodes
+        robot_state_publisher,
+        trajectory_controller_spawner,
+        joint_state_broadcaster_spawner,
+
+        # Launch the driver node once the URDF robot is spawned
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessIO(
+                target_action=spawn_URDF_ur5e,
+                on_stdout=lambda event: get_webots_driver_node(event, universal_robot_driver),
+            )
+        ),
+
+        # Kill all the nodes when the driver node is shut down
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessExit(
+                target_action=universal_robot_driver,
+                on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
+            )
+        ),
+    ])