Use ParameterFile (allow_substs) (ros-navigation#3706) (ros-navigation#3806)

Signed-off-by: ymd-stella <[email protected]>
Co-authored-by: ymd-stella <[email protected]>

Author: 2 people

nav2_bringup/launch/bringup_launch.py

@@ -24,6 +24,7 @@
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 from launch_ros.actions import PushRosNamespace
+from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import RewrittenYaml
 
 
@@ -58,11 +59,13 @@ def generate_launch_description():
         'use_sim_time': use_sim_time,
         'yaml_filename': map_yaml_file}
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

nav2_bringup/launch/localization_launch.py

@@ -22,7 +22,7 @@
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.actions import Node
-from launch_ros.descriptions import ComposableNode
+from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import RewrittenYaml
 
 
@@ -57,11 +57,13 @@ def generate_launch_description():
         'use_sim_time': use_sim_time,
         'yaml_filename': map_yaml_file}
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

nav2_bringup/launch/navigation_launch.py

@@ -22,7 +22,7 @@
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.actions import Node
-from launch_ros.descriptions import ComposableNode
+from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import RewrittenYaml
 
 
@@ -62,11 +62,13 @@ def generate_launch_description():
         'use_sim_time': use_sim_time,
         'autostart': autostart}
 
-    configured_params = RewrittenYaml(
+    configured_params = ParameterFile(
+        RewrittenYaml(
             source_file=params_file,
             root_key=namespace,
             param_rewrites=param_substitutions,
-            convert_types=True)
+            convert_types=True),
+        allow_substs=True)
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

nav2_bringup/launch/slam_launch.py

@@ -22,6 +22,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import HasNodeParams, RewrittenYaml
 
 
@@ -46,11 +47,13 @@ def generate_launch_description():
     param_substitutions = {
         'use_sim_time': use_sim_time}
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
 
     # Declare the launch arguments
     declare_namespace_cmd = DeclareLaunchArgument(

nav2_collision_monitor/launch/collision_monitor_node.launch.py

@@ -22,6 +22,7 @@
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import RewrittenYaml
 
 
@@ -59,11 +60,13 @@ def generate_launch_description():
     param_substitutions = {
         'use_sim_time': use_sim_time}
 
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
 
     # Nodes launching commands
     start_lifecycle_manager_cmd = Node(