From 46bca803e00e2c6c12b707bb66ef1715662c571e Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Mon, 13 Feb 2023 22:11:24 +0100
Subject: [PATCH] Plansys 2 turtle examples works.
---
launch/turtle.launch.py | 17 +++++++++++++++--
1 file changed, 15 insertions(+), 2 deletions(-)
diff --git a/launch/turtle.launch.py b/launch/turtle.launch.py
index fc22481..1d5b582 100644
--- a/launch/turtle.launch.py
+++ b/launch/turtle.launch.py
@@ -37,14 +37,27 @@ def generate_launch_description():
get_package_share_directory('lrs_exec'),
'exec.launch.py')),
launch_arguments={"ns": LaunchConfiguration('ns'),
- "location": LaunchConfiguration('location')}.items()
+ "location": LaunchConfiguration('location'),
+ "ros2_bridge": "true",
+ }.items()
)
-
+
+ streamer_include = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(
+ get_package_share_directory('lrs_exec'),
+ 'tst_streamer.launch.py')),
+ launch_arguments={"ns": LaunchConfiguration('ns'),
+ "location": LaunchConfiguration('location'),
+ "name": "turtletst"}.items()
+ )
+
return LaunchDescription([
sim_arg,
ns_arg,
location_arg,
exec_include,
+ streamer_include,
sim_include,
Node(
package='lrs_turtle',
--
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