removed action group

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 13, 2023 · 2b479a6 · 2b479a6
1 parent 2213a81
commit 2b479a6
Showing 1 changed file with 16 additions and 28 deletions.
diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import RegisterEventHandler, DeclareLaunchArgument, GroupAction
+from launch.actions import RegisterEventHandler, DeclareLaunchArgument
 from launch.conditions import UnlessCondition
 from launch.event_handlers import OnProcessExit
 from launch.substitutions import (
@@ -83,12 +83,12 @@ def generate_launch_description():
             " else 'controller_manager'",
         ]
     )
+
     controller_manager_name = LaunchConfiguration("controller_manager_name")
     namespace_for_controller_name = PythonExpression(
         ["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "/'"]
     )
 
-    namespace_for_controller_name
     declare_controller_manager_name_arg = DeclareLaunchArgument(
         "controller_manager_name",
         default_value=[namespace_for_controller_name, controller_manager_type_name],
@@ -145,6 +145,7 @@ def generate_launch_description():
         package="robot_state_publisher",
         executable="robot_state_publisher",
         parameters=[robot_description],
+        namespace=namespace,
     )
 
     joint_state_broadcaster_spawner = Node(
@@ -206,32 +207,19 @@ def generate_launch_description():
         )
     )
 
-    args_declarations_actions = [
-        declare_namespace_arg,
-        declare_mecanum_arg,
-        declare_use_sim_arg,
-        declare_use_gpu_arg,
-        declare_simulation_engine_arg,
-        declare_controller_manager_name_arg,
-    ]
-
-    nodes_actions = [
-        control_node,
-        robot_state_pub_node,
-        joint_state_broadcaster_spawner,
-        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
-        delay_imu_broadcaster_spawner_after_robot_controller_spawner,
-    ]
-
     return LaunchDescription(
-        args_declarations_actions
-        + [
-            GroupAction(
-                actions=[
-                    # PushRosNamespace(namespace),
-                    SetParameter(name="use_sim_time", value=use_sim),
-                ]
-                + nodes_actions
-            )
+        [
+            declare_namespace_arg,
+            declare_mecanum_arg,
+            declare_use_sim_arg,
+            declare_use_gpu_arg,
+            declare_simulation_engine_arg,
+            declare_controller_manager_name_arg,
+            SetParameter("use_sim_time"),
+            control_node,
+            robot_state_pub_node,
+            joint_state_broadcaster_spawner,
+            delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+            delay_imu_broadcaster_spawner_after_robot_controller_spawner,
         ]
     )