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Add subst_value="true" to rosparam command="load" to correctly resolve prefix argument #18

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Add subst_value="true" to rosparam command="load" to correctly resolve prefix argument #18

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8 changes: 4 additions & 4 deletions husky_kinova_bringup/launch/husky_dual_gen3_bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,8 @@
<param name="dof" value="$(arg left_dof)"/>
<param name="use_hard_limits" value="$(arg use_hard_limits)"/>
<param name="prefix" value="$(arg left_prefix)"/>
<rosparam command="load" file="$(find kortex_description)/arms/$(arg left_arm)/$(arg left_dof)dof/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find kortex_description)/grippers/$(arg left_gripper)/config/joint_limits.yaml" unless="$(eval not arg('left_gripper'))"/>
<rosparam command="load" file="$(find kortex_description)/arms/$(arg left_arm)/$(arg left_dof)dof/config/joint_limits.yaml" subst_value="true"/>
<rosparam command="load" file="$(find kortex_description)/grippers/$(arg left_gripper)/config/joint_limits.yaml" unless="$(eval not arg('left_gripper'))" subst_value="true"/>
</node>
<!-- Start the right arm kortex_driver node -->
<node name="$(arg right_robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver" output="screen" ns="$(arg right_robot_name)">
Expand All @@ -84,8 +84,8 @@
<param name="dof" value="$(arg right_dof)"/>
<param name="use_hard_limits" value="$(arg use_hard_limits)"/>
<param name="prefix" value="$(arg right_prefix)"/>
<rosparam command="load" file="$(find kortex_description)/arms/$(arg right_arm)/$(arg right_dof)dof/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find kortex_description)/grippers/$(arg right_gripper)/config/joint_limits.yaml" unless="$(eval not arg('right_gripper'))"/>
<rosparam command="load" file="$(find kortex_description)/arms/$(arg right_arm)/$(arg right_dof)dof/config/joint_limits.yaml" subst_value="true"/>
<rosparam command="load" file="$(find kortex_description)/grippers/$(arg right_gripper)/config/joint_limits.yaml" unless="$(eval not arg('right_gripper'))" subst_value="true"/>
</node>

<!-- Start joint and robot state publisher -->
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4 changes: 2 additions & 2 deletions husky_kinova_bringup/launch/husky_gen3_bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@
<param name="dof" value="$(arg dof)"/>
<param name="use_hard_limits" value="$(arg use_hard_limits)"/>
<param name="prefix" value="$(arg prefix)"/>
<rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))"/>
<rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml" subst_value="true"/>
<rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))" subst_value="true"/>
</node>

<node name="joint_state_relay" type="relay" pkg="topic_tools" args="/kinova_arm/joint_states /joint_states" />
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