Fix launcher using as2 utils

aerostack2 · Jul 10, 2024 · 85803e7 · 85803e7
1 parent ace9609
commit 85803e7
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Showing 2 changed files with 10 additions and 9 deletions.
diff --git a/launch/as2_platform_dji_psdk.launch.py b/launch/as2_platform_dji_psdk.launch.py
@@ -39,8 +39,9 @@
 from as2_core.launch_configuration_from_config_file import LaunchConfigurationFromConfigFile
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import EnvironmentVariable, LaunchConfiguration
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -52,10 +53,8 @@ def generate_launch_description() -> LaunchDescription:
     """
     # Get default platform configuration file
     package_folder = get_package_share_directory('as2_platform_dji_psdk')
-
     platform_config_file = os.path.join(package_folder,
                                         'config/platform_config_file.yaml')
-
     control_modes = PathJoinSubstitution([
         FindPackageShare('as2_platform_dji_psdk'),
         'config', 'control_modes.yaml'

diff --git a/launch/psdk_wrapper.launch.py b/launch/psdk_wrapper.launch.py
@@ -38,7 +38,8 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-import as2_core.launch_param_utils as as2_utils
+from as2_core.declare_launch_arguments_from_config_file import DeclareLaunchArgumentsFromConfigFile
+from as2_core.launch_configuration_from_config_file import LaunchConfigurationFromConfigFile
 import launch
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, EmitEvent
@@ -79,13 +80,14 @@ def generate_launch_description() -> LaunchDescription:
         output='screen',
         emulate_tty=True,
         parameters=[
-            *as2_utils.launch_configuration('psdk_params_file',
-                                            default_value=psdk_params_file),
             {
                 'link_config_file_path': LaunchConfiguration('link_config_file_path'),
                 'hms_return_codes_path': LaunchConfiguration('hms_return_codes_path'),
             },
             LaunchConfiguration('psdk_authentication_params_file'),
+            LaunchConfigurationFromConfigFile(
+                'psdk_params_file',
+                default_file=psdk_params_file),
         ],
         remappings=[
             ('psdk_ros2/gps_position_fused', 'sensor_measurements/gps'),
@@ -126,9 +128,9 @@ def generate_launch_description() -> LaunchDescription:
         DeclareLaunchArgument('hms_return_codes_path',
                               default_value=hms_return_codes_file,
                               description='Path to JSON file with known DJI return codes'),
-        *as2_utils.declare_launch_arguments(
-            'psdk_params_file',
-            default_value=psdk_params_file,
+        DeclareLaunchArgumentsFromConfigFile(
+            name='psdk_params_file',
+            source_file=psdk_params_file,
             description='Paremeters for DJI PSDK authentication'),
     ])