fixed parameters for thruster interface

vortexntnu · Mar 22, 2024 · 7451c30 · 7451c30
1 parent dc6efcb
commit 7451c30
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 11 deletions.
diff --git a/motion/thruster_allocator_auv/launch/thruster_allocator_auv.launch.py b/motion/thruster_allocator_auv/launch/thruster_allocator_auv.launch.py
@@ -1,4 +1,4 @@
-import os
+from os import path
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
@@ -10,7 +10,7 @@ def generate_launch_description():
         executable='thruster_allocator_auv_node',
         name='thruster_allocator_auv_node',
         parameters=[
-            os.path.join(get_package_share_directory('auv_setup'), 'config',
+            path.join(get_package_share_directory('auv_setup'), 'config',
                          'robots', 'orca.yaml')
         ],
         output='screen',

diff --git a/motion/thruster_interface_auv/launch/thruster_interface_auv.launch.py b/motion/thruster_interface_auv/launch/thruster_interface_auv.launch.py
@@ -3,13 +3,14 @@
 from ament_index_python.packages import get_package_share_directory
 from os import path
 
-
 def generate_launch_description():
-    # TODO: read parameters from yaml file
-    return LaunchDescription([
-        Node(package='thruster_interface_auv',
-             executable='thruster_interface_auv_node.py',
-             name='thruster_interface_auv_node',
-             output='screen',
-             emulate_tty=True)
-    ])
+    thruster_interface_auv_node = Node(
+        package='thruster_interface_auv',
+        executable='thruster_interface_auv_node.py',
+        name='thruster_interface_auv_node',
+        output='screen',
+        emulate_tty=True,
+        parameters=[path.join(get_package_share_directory('auv_setup'), 'config',
+                    'robots', 'orca.yaml')]
+    )
+    return LaunchDescription([thruster_interface_auv_node])
diff --git a/motion/thruster_interface_auv/thruster_interface_auv/thruster_interface_auv_node.py b/motion/thruster_interface_auv/thruster_interface_auv/thruster_interface_auv_node.py