correct wrong path in launch file

intel · Sep 11, 2019 · 8d82487 · 8d82487
1 parent 95c6da0
commit 8d82487
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/README.md b/README.md
@@ -82,7 +82,7 @@ source /opt/ros/dashing/setup.bash
 source ~/ros2_ws/install/local_setup.bash
 
 cd ~/ros2_ws
-ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_ros/config/d435.yaml __ns:=/d435
+ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_examples/config/d435.yaml __ns:=/d435
 ```
 
 * Terminal 2:
@@ -92,7 +92,7 @@ source /opt/ros/dashing/setup.bash
 source ~/ros2_ws/install/local_setup.bash
 
 cd ~/ros2_ws
-ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_ros/config/t265.yaml __ns:=/t265
+ros2 run realsense_node realsense_node __params:=`ros2 pkg prefix realsense_examples`/share/realsense_examples/config/t265.yaml __ns:=/t265
 ```
 
 * Or using ros2 launch :

diff --git a/realsense_examples/launch/rs_cartographer.launch.py b/realsense_examples/launch/rs_cartographer.launch.py
@@ -27,7 +27,7 @@
 
 def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
-    realsense_prefix = get_package_share_directory('realsense_ros')
+    realsense_prefix = get_package_share_directory('realsense_examples')
     cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', 
                                                     default=os.path.join(realsense_prefix, 'config'))
     configuration_basename = LaunchConfiguration('configuration_basename', default='rs_cartographer.lua')

diff --git a/realsense_examples/launch/rs_t265_and_d400.launch.py b/realsense_examples/launch/rs_t265_and_d400.launch.py
@@ -35,7 +35,7 @@ def generate_launch_description():
     rgbd_base_frame_id = LaunchConfiguration('base_frame_id', default='d435_link')
     rgbd_serial_no = LaunchConfiguration('serial_no', default='819312071869')
 
-    rviz_config_dir = os.path.join(get_package_share_directory('realsense_ros'), 'config', 'rs_cartographer.rviz')
+    rviz_config_dir = os.path.join(get_package_share_directory('realsense_examples'), 'config', 'rs_cartographer.rviz')
 
     rviz_node = Node(
             package='rviz2',

diff --git a/realsense_examples/launch/tb3_robot.launch.py b/realsense_examples/launch/tb3_robot.launch.py
@@ -39,7 +39,11 @@ def generate_launch_description():
             get_package_share_directory('turtlebot3_bringup'),
             'param',
             TURTLEBOT3_MODEL + '.yaml'))
-
+    robot_state_publisher_dir = LaunchConfiguration(
+        'turtlebot3 state publisher dir',
+        default=os.path.join(
+            get_package_share_directory('turtlebot3_bringup'),
+            'launch'))
     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
 
     return LaunchDescription([
@@ -60,7 +64,7 @@ def generate_launch_description():
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                [ThisLaunchFileDir(), '/turtlebot3_state_publisher.launch.py']),
+                [robot_state_publisher_dir, '/turtlebot3_state_publisher.launch.py']),
             launch_arguments={'use_sim_time': use_sim_time}.items(),
         ),