Verify tb3 exists at launch time (#3556)

* Verify tb3 model exists before launching Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing tb3 dependency Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Update nav2_bringup/launch/tb3_simulation_launch.py --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
ros-navigation · May 3, 2023 · 9b56556 · 9b56556
1 parent 7b132fc
commit 9b56556
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diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -30,6 +30,8 @@ def generate_launch_description():
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
+    # This checks that tb3 exists needed for the URDF. If not using TB3, its safe to remove.
+    _ = get_package_share_directory('turtlebot3_gazebo')
 
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')

diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
@@ -19,6 +19,7 @@
   <exec_depend>navigation2</exec_depend>
   <exec_depend>nav2_common</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
+  <exec_depend>turtlebot3_gazebo</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>