Use math.radians() to compute default values in launch-files

PilzDE · Jan 31, 2022 · 75599b1 · 75599b1
1 parent 4b6148e
commit 75599b1
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/launch/bringup.launch.xml b/launch/bringup.launch.xml
@@ -24,18 +24,17 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>.
        is the prefix for the urdf description. -->
   <arg name="tf_prefix" default="laser_1" />
 
-  <!-- Start angle of measurement in radian
-       https://github.com/ros2/launch/pull/557 would allow "$(eval math.radians(-137.4))"-->
-  <arg name="angle_start" default="-2.398082392240209" />
+  <!-- Start angle of measurement in radian -->
+  <arg name="angle_start" default="$(eval 'radians(-137.4)')" />
 
   <!-- End angle of measurement in radian -->
-  <arg name="angle_end" default="2.398082392240209" />
+  <arg name="angle_end" default="$(eval 'radians(137.4)')" />
 
   <!-- Publishing of intensities -->
   <arg name="intensities" default="false" />
 
   <!-- Scan resolution in radian -->
-  <arg name="resolution" default="0.0017453292519943296" />
+  <arg name="resolution" default="$(eval 'radians(0.1)')" />
 
   <!-- IP-Address of host machine -->
   <arg name="host_ip" default="auto" />

diff --git a/launch/psen_scan_v2.launch.xml b/launch/psen_scan_v2.launch.xml
@@ -24,17 +24,17 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>.
   <arg name="tf_prefix" default="laser_1" />
 
   <!-- Start angle of measurement in radian -->
-  <arg name="angle_start" default="-2.398082392240209" />
+  <arg name="angle_start" default="$(eval 'radians(-137.4)')" />
 
   <!-- End angle of measurement in radian -->
 
-  <arg name="angle_end" default="2.398082392240209" />
+  <arg name="angle_end" default="$(eval 'radians(137.4)')" />
 
   <!-- Publishing of intensities -->
   <arg name="intensities" default="false" />
 
   <!-- Scan resolution in radian -->
-  <arg name="resolution" default="0.0017453292519943296" />
+  <arg name="resolution" default="$(eval 'radians(0.1)')" />
 
   <!-- IP-Address of host machine -->
   <arg name="host_ip" default="auto" />