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Fix issue #652 #653

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merged 1 commit into from
Nov 22, 2024
Merged

Fix issue #652 #653

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14 changes: 7 additions & 7 deletions ros_gz_sim/ros_gz_sim/actions/gzserver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
from launch.frontend import Entity, expose_action, Parser
from launch.launch_context import LaunchContext
from launch.some_substitutions_type import SomeSubstitutionsType
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch.substitutions import PythonExpression
from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode

Expand Down Expand Up @@ -125,8 +125,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
package='ros_gz_sim',
executable='gzserver',
output='screen',
parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
parameters=[{'world_sdf_file': self.__world_sdf_file,
'world_sdf_string': self.__world_sdf_string}],
),
],
)
Expand All @@ -145,8 +145,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
package='ros_gz_sim',
plugin='ros_gz_sim::GzServer',
name='gz_server',
parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
parameters=[{'world_sdf_file': self.__world_sdf_file,
'world_sdf_string': self.__world_sdf_string}],
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand All @@ -166,8 +166,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
package='ros_gz_sim',
plugin='ros_gz_sim::GzServer',
name='gz_server',
parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
parameters=[{'world_sdf_file': self.__world_sdf_file,
'world_sdf_string': self.__world_sdf_string}],
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand Down
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