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husarion · Sep 19, 2024 · c36470c · c36470c
1 parent fbc8d4c
commit c36470c
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Showing 3 changed files with 20 additions and 18 deletions.
diff --git a/panther_controller/launch/controller.launch.py b/panther_controller/launch/controller.launch.py
@@ -94,6 +94,16 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
+    robot_model = LaunchConfiguration("robot_model")
+    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
+    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
+    declare_robot_model_arg = DeclareLaunchArgument(
+        "robot_model",
+        default_value=robot_model_dict[robot_model_env],
+        description="Specify robot model",
+        choices=["lynx", "panther"],
+    )
+
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -119,9 +129,10 @@ def generate_launch_description():
         ),
     )
 
+    default_wheel_type = {"lynx": "WH05", "panther": "WH01"}
     declare_wheel_type_arg = DeclareLaunchArgument(
         "wheel_type",
-        default_value="WH01",
+        default_value=PythonExpression([f"{default_wheel_type}['", robot_model, "']"]),
         description=(
             "Specify the wheel type. If the selected wheel type is not 'custom', "
             "the 'wheel_config_path' and 'controller_config_path' arguments will be "
@@ -268,6 +279,7 @@ def generate_launch_description():
 
     actions = [
         declare_battery_config_path_arg,
+        declare_robot_model_arg,  # robot_model must be before wheel_type
         declare_wheel_type_arg,  # wheel_type must be before controller_config_path
         declare_components_config_path_arg,
         declare_controller_config_path_arg,

diff --git a/panther_gazebo/launch/simulate_robot.launch.py b/panther_gazebo/launch/simulate_robot.launch.py
@@ -87,11 +87,12 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
+    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
     robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-    robot_model_env = "lynx" if robot_model_env == "LNX" else "panther"
+    robot_model_default = robot_model_dict[robot_model_env]
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_env,
+        default_value=robot_model_default,
         description="Specify robot model",
         choices=["lynx", "panther"],
     )
@@ -104,17 +105,6 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
-    declare_wheel_type_arg = DeclareLaunchArgument(
-        "wheel_type",
-        default_value=PythonExpression(["'WH01' if '", robot_model, "' == 'panther' else 'WH05'"]),
-        description=(
-            "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."
-        ),
-        choices=["WH01", "WH02", "WH04", "WH05", "custom"],
-    )
-
     spawn_robot_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -246,7 +236,6 @@ def generate_launch_description():
         declare_gz_bridge_config_path_arg,
         declare_namespace_arg,
         declare_use_ekf_arg,
-        declare_wheel_type_arg,
         SetUseSimTime(True),
         spawn_robot_launch,
         lights_launch,

diff --git a/panther_gazebo/launch/spawn_robot.launch.py b/panther_gazebo/launch/spawn_robot.launch.py
@@ -40,11 +40,12 @@ def generate_launch_description():
     )
 
     robot_model = LaunchConfiguration("robot_model")
-    robot_model_env = os.environ.get("ROBOT_MODEL_env", default="PTH")
-    robot_model_env = "lynx" if robot_model_env == "LNX" else "panther"
+    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_env,
+        default_value=robot_model_default,
         description="Specify robot model",
         choices=["lynx", "panther"],
     )