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fix launch warning due to deprecated functions #3445

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merged 1 commit into from
Mar 3, 2023
Merged

fix launch warning due to deprecated functions #3445

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18 changes: 6 additions & 12 deletions nav2_bringup/launch/localization_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.actions import SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.conditions import LaunchConfigurationEquals
from launch.conditions import LaunchConfigurationNotEquals
from launch.substitutions import EqualsSubstitution
from launch.substitutions import NotEqualsSubstitution
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, SetParameter
from launch_ros.actions import Node
Expand Down Expand Up @@ -109,7 +109,7 @@ def generate_launch_description():
actions=[
SetParameter('use_sim_time', use_sim_time),
Node(
condition=LaunchConfigurationEquals('map', ''),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')),
package='nav2_map_server',
executable='map_server',
name='map_server',
Expand All @@ -120,7 +120,7 @@ def generate_launch_description():
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings),
Node(
condition=LaunchConfigurationNotEquals('map', ''),
condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')),
package='nav2_map_server',
executable='map_server',
name='map_server',
Expand Down Expand Up @@ -156,19 +156,13 @@ def generate_launch_description():
# yaml configuration file. They are separated since the conditions
# currently only work on the LoadComposableNodes commands and not on the
# ComposableNode node function itself
# EqualsSubstitution and NotEqualsSubstitution susbsitutions was recently
# added to solve this problem but it has not been ported yet to
# ros-rolling. See https://github.com/ros2/launch_ros/issues/328.
# LaunchConfigurationEquals and LaunchConfigurationNotEquals are scheduled
# for deprecation once a Rolling sync is conducted. Switching to this new
# would be required for both ComposableNode and normal nodes.
load_composable_nodes = GroupAction(
condition=IfCondition(use_composition),
actions=[
SetParameter('use_sim_time', use_sim_time),
LoadComposableNodes(
target_container=container_name_full,
condition=LaunchConfigurationEquals('map', ''),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')),
composable_node_descriptions=[
ComposableNode(
package='nav2_map_server',
Expand All @@ -180,7 +174,7 @@ def generate_launch_description():
),
LoadComposableNodes(
target_container=container_name_full,
condition=LaunchConfigurationNotEquals('map', ''),
condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')),
composable_node_descriptions=[
ComposableNode(
package='nav2_map_server',
Expand Down