Signed-off-by: Hongmei Gou <[email protected]>
---
.../ros-mmwave/files/0003-turtlebot-bringup-description.launch | 4 ++++
recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb | 4 +++-
2 files changed, 7 insertions(+), 1 deletion(-)
create mode 100644
recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch
diff --git
a/recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch
b/recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch
new file mode 100644
index 0000000..8e37309
--- /dev/null
+++ b/recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch
@@ -0,0 +1,4 @@
+<launch>
+ <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find
turtlebot_description)/robots/kobuki_hexagons_radar.urdf.xacro'"/>
+ <param name="robot_description" command="$(arg urdf_file)"/>
+</launch>
diff --git a/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
b/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
index 2bce70f..010002f 100644
--- a/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
+++ b/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
@@ -11,11 +11,12 @@ SRC_URI +=
"file://0001-turtlebot-bringup-description-launch-xml.patch;patchdir=
file://0002-turtlebot-bringup-minimal-launch.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup
\
file://0001-turtlebot-navigation-params-yaml.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot_apps/turtlebot_navigation
\
file://0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch;patchdir=${S}
\
+ file://0003-turtlebot-bringup-description.launch \
"
S = "${WORKDIR}/${P}/turtlebot_mmwave_launchers"
-PR = "r2"
+PR = "r3"
inherit catkin
@@ -39,6 +40,7 @@ do_install_append() {
install -d ${D}${ros_datadir}/turtlebot_description
cp -r ${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup/*
${D}${ros_datadir}/turtlebot_bringup
cp -r ${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_description/*
${D}${ros_datadir}/turtlebot_description
+ cp ${WORKDIR}/0003-turtlebot-bringup-description.launch
${D}${ros_datadir}/turtlebot_bringup/launch/description.launch
rm -rf ${D}${ros_datadir}/turtlebot_bringup/patches
install -d ${D}${ros_datadir}/turtlebot_navigation
--
1.9.1
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