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husarion · Sep 19, 2024 · 7ac55f3 · 7ac55f3
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Showing 3 changed files with 3 additions and 5 deletions.
diff --git a/README.md b/README.md
@@ -108,7 +108,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | 🤖🖥️  | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                                             |
 | 🤖🖥️  | `user_led_animations_file`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                                                             |
 | 🤖🖥️  | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config)                                                                                                                                                                                                                                                   |
-| 🤖🖥️  | `wheel_type`                 | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`) |
+| 🤖🖥️  | `wheel_type`                 | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`) |
 | 🖥️   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                          |
 | 🖥️   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0`                                                                                                                                                                                                                                                                                         |
 | 🖥️   | `z`                          | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                          |

diff --git a/panther_gazebo/launch/simulate_robot.launch.py b/panther_gazebo/launch/simulate_robot.launch.py
@@ -89,10 +89,9 @@ def generate_launch_description():
 
     robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
     robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-    robot_model_default = robot_model_dict[robot_model_env]
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_default,
+        default_value=robot_model_dict[robot_model_env],
         description="Specify robot model",
         choices=["lynx", "panther"],
     )

diff --git a/panther_gazebo/launch/spawn_robot.launch.py b/panther_gazebo/launch/spawn_robot.launch.py
@@ -42,10 +42,9 @@ def generate_launch_description():
     robot_model = LaunchConfiguration("robot_model")
     robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
     robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-    robot_model_default = robot_model_dict[robot_model_env]
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_default,
+        default_value=robot_model_dict[robot_model_env],
         description="Specify robot model",
         choices=["lynx", "panther"],
     )