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Fix LaunchConfigurationEquals deprecation warning #177

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Merged
grassjelly merged 1 commit into from
Jul 13, 2025
Merged

Fix LaunchConfigurationEquals deprecation warning #177

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12 changes: 6 additions & 6 deletions linorobot2_bringup/launch/default_robot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,11 +14,11 @@

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, EqualsSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.conditions import IfCondition, LaunchConfigurationEquals, LaunchConfigurationNotEquals
from launch.conditions import IfCondition


def generate_launch_description():
Expand Down Expand Up @@ -56,21 +56,21 @@ def generate_launch_description():
),

Node(
condition=LaunchConfigurationEquals('micro_ros_transport', 'serial'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('micro_ros_transport'), 'serial')),
package='micro_ros_agent',
executable='micro_ros_agent',
name='micro_ros_agent',
output='screen',
arguments=['serial', '--dev', LaunchConfiguration("base_serial_port"), '--baudrate', LaunchConfiguration("micro_ros_baudrate")]
arguments=['serial', '--dev', LaunchConfiguration("base_serial_port"), '--baudrate', LaunchConfiguration("micro_ros_baudrate")],
),

Node(
condition=LaunchConfigurationEquals('micro_ros_transport', 'udp4'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('micro_ros_transport'), 'udp4')),
package='micro_ros_agent',
executable='micro_ros_agent',
name='micro_ros_agent',
output='screen',
arguments=[LaunchConfiguration('micro_ros_transport'), '--port', LaunchConfiguration('micro_ros_port')]
arguments=[LaunchConfiguration('micro_ros_transport'), '--port', LaunchConfiguration('micro_ros_port')],
),

IncludeLaunchDescription(
Expand Down
4 changes: 2 additions & 2 deletions linorobot2_bringup/launch/depth.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
from launch.substitutions import PathJoinSubstitution, PythonExpression, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch.conditions import IfCondition, LaunchConfigurationEquals
from launch.conditions import IfCondition
from launch_ros.actions import Node


Expand All @@ -45,7 +45,7 @@ def generate_launch_description():
PythonLaunchDescriptionSource(PathJoinSubstitution(
[FindPackageShare('realsense2_camera'), 'launch', 'rs_launch.py']
)),
condition=LaunchConfigurationEquals('sensor', 'realsense'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'realsense')),
launch_arguments={
'pointcloud.enable': 'true',
'ordered_pc': 'true',
Expand Down
18 changes: 9 additions & 9 deletions linorobot2_bringup/launch/lasers.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,9 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, EqualsSubstitution
from launch_ros.substitutions import FindPackageShare
from launch.conditions import LaunchConfigurationEquals
from launch.conditions import IfCondition
from launch_ros.actions import Node


Expand Down Expand Up @@ -110,7 +110,7 @@ def generate_launch_description():
),

Node(
condition=LaunchConfigurationEquals('sensor', 'ydlidar'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'ydlidar')),
package='ydlidar_ros2_driver',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
Expand Down Expand Up @@ -143,7 +143,7 @@ def generate_launch_description():
),

# Node(
# condition=LaunchConfigurationEquals('sensor', 'rplidar'),
# condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'rplidar')),
# name='rplidar_composition',
# package='rplidar_ros',
# executable='rplidar_composition',
Expand All @@ -159,7 +159,7 @@ def generate_launch_description():
# ),

Node(
condition=LaunchConfigurationEquals('sensor', 'xv11'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'xv11')),
name='xv_11_driver',
package='xv_11_driver',
executable='xv_11_driver',
Expand All @@ -174,7 +174,7 @@ def generate_launch_description():
),

Node(
condition=LaunchConfigurationEquals('sensor', 'ldlidar'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'ldlidar')),
package='ldlidar',
executable='ldlidar',
name='ldlidar',
Expand All @@ -188,7 +188,7 @@ def generate_launch_description():
),

Node(
condition=LaunchConfigurationEquals('sensor', 'ld06'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'ld06')),
package='ldlidar_stl_ros2',
executable='ldlidar_stl_ros2_node',
name='ld06',
Expand All @@ -211,7 +211,7 @@ def generate_launch_description():
),

Node(
condition=LaunchConfigurationEquals('sensor', 'ld19'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'ld19')),
package='ldlidar_stl_ros2',
executable='ldlidar_stl_ros2_node',
name='ld19',
Expand All @@ -234,7 +234,7 @@ def generate_launch_description():
),

Node(
condition=LaunchConfigurationEquals('sensor', 'stl27l'),
condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sensor'), 'stl27l')),
package='ldlidar_stl_ros2',
executable='ldlidar_stl_ros2_node',
name='stl27l',
Expand Down