[Fix] Cleanup Launch Files #982
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
added 19 commits
November 24, 2025 16:54
Contributor
Author
|
I will be away for the next week, so I apologize if I do not immediately respond to comments. |
christophfroehlich
requested changes
Nov 27, 2025
Member
christophfroehlich
left a comment
christophfroehlich
left a comment
There was a problem hiding this comment.
Jobs are failing, can you have a look please?
Contributor
|
This pull request is in conflict. Could you fix it @philipchurchley? |
christophfroehlich
requested changes
Dec 2, 2025
Member
christophfroehlich
left a comment
christophfroehlich
left a comment
There was a problem hiding this comment.
Thanks a lot for the big changes.
My first review round below. Please also fix the merge conflict with example_5 now.
| name="publisher_forward_position_controller", | ||
| parameters=[position_goals], | ||
| parameters=[ | ||
| PathSubstitution(FindPackageShare("ros2_control_demo_example_1")) |
Member
There was a problem hiding this comment.
Suggested change
| PathSubstitution(FindPackageShare("ros2_control_demo_example_1")) | |
| PathSubstitution(FindPackageShare("ros2_control_demo_example_10")) |
it seems that this was wrong before
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Addresses #950 and follows up on #959 by cleaning the remaining launch files. The launch files have been improved to use a declarative programming style, as described by @emersonknapp at ROSCon, which can be viewed in the livestream at 6:10.
Summary
LaunchDescription([...]), replacedPathJoinSubstitutionwithPathSubstitution+/,used literal
"xacro"inCommand, and removedRegisterEventHandler/OnProcessExit).Validation performed
generate_launch_description()for each launch) — all passed.master; it flagged 18 files but most differences are cosmetic or expected.Potential confusions for reviewer attention
example_15: addedpublisher_configlaunch argument in test launches. Please confirm the default file and behavior.RegisterEventHandlerentries may affect startup/shutdown ordering for some bringup launches. Please check that this removal doesn't break anything.Recommendation