Use parameters with ros_gz_sim::Create (#211)

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls · Jan 9, 2024 · ef7deef · ef7deef
1 parent 4a2170c
commit ef7deef
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Showing 6 changed files with 18 additions and 18 deletions.
diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -55,9 +55,9 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         output='screen',
-        arguments=['-string', doc.toxml(),
-                   '-name', 'cart',
-                   '-allow_renaming', 'true'],
+        parameters=[{'string': doc.toxml(),
+                     'name': 'cart',
+                     'allow_renaming': True}],
     )
 
     load_joint_state_broadcaster = ExecuteProcess(

diff --git a/gz_ros2_control_demos/launch/cart_example_position.launch.py b/gz_ros2_control_demos/launch/cart_example_position.launch.py
@@ -55,9 +55,9 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         output='screen',
-        arguments=['-string', doc.toxml(),
-                   '-name', 'cart',
-                   '-allow_renaming', 'true'],
+        parameters=[{'string': doc.toxml(),
+                     'name': 'cart',
+                     'allow_renaming': True}],
     )
 
     load_joint_state_broadcaster = ExecuteProcess(

diff --git a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -55,9 +55,9 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         output='screen',
-        arguments=['-string', doc.toxml(),
-                   '-name', 'cart',
-                   '-allow_renaming', 'true'],
+        parameters=[{'string': doc.toxml(),
+                     'name': 'cart',
+                     'allow_renaming': True}],
     )
 
     load_joint_state_broadcaster = ExecuteProcess(

diff --git a/gz_ros2_control_demos/launch/diff_drive_example.launch.py b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -56,9 +56,9 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         output='screen',
-        arguments=['-string', doc.toxml(),
-                   '-name', 'diff_drive',
-                   '-allow_renaming', 'true'],
+        parameters=[{'string': doc.toxml(),
+                     'name': 'diff_drive',
+                     'allow_renaming': True}],
     )
 
     load_joint_state_controller = ExecuteProcess(

diff --git a/gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py b/gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py
@@ -58,9 +58,9 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         output='screen',
-        arguments=['-string', doc.toxml(),
-                   '-name', 'gripper',
-                   '-allow_renaming', 'true'],
+        parameters=[{'string': doc.toxml(),
+                     'name': 'gripper',
+                     'allow_renaming': True}],
     )
 
     load_joint_state_broadcaster = ExecuteProcess(

diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -56,9 +56,9 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         output='screen',
-        arguments=['-string', doc.toxml(),
-                   '-name', 'tricyle',
-                   '-allow_renaming', 'true'],
+        parameters=[{'string': doc.toxml(),
+                     'name': 'tricyle',
+                     'allow_renaming': True}],
     )
 
     load_joint_state_controller = ExecuteProcess(