gazebo_ros_wheel_slip: support parameters specified in launch file #1126
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The WheelSlipPlugin already has default values for the slip compliance parameters, so ignore the default values set in WheelSlip.cfg by making them negative and instruct the callback to ignore negative values. Also, ignore the `level` variable in callback so that parameters set in launch file will not be ignored.
scpeters
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one unrelated test failure; it's probably flaky |
cohen39
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Nov 15, 2021
The WheelSlipPlugin already has default values for the slip compliance parameters, so ignore the default values set in WheelSlip.cfg by making them negative and instruct the callback to ignore negative values. Also, ignore the `level` variable in callback so that parameters set in launch file will not be ignored.
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This re-targets #1111 to noetic.
The
gazebo_ros_wheel_slipplugin currently ignores slip compliance values specified in a launch file due to the check of thelevelparameter added in 3cf9f5e, which ensures that parameter values specified in the urdf / sdf xml parameters are not over-ridden by the default values specified in the.cfgfile. In order to respect the values set in launch files but ignore the defaults in the.cfgfile, change the.cfgdefault values to-1and adjust the callback to ignore negative values. This is fine because gazebo's WheelSlipPlugin already has default values for the slip compliance parameters, so the.cfgdefaults are extraneous.This also reverts 3cf9f5e so that the
levelparameter is ignored again.See also the comment by @Maxx84 on #1111: #1111 (comment)