Launch file question

[Pito Salas]

Here’s a puzzle, or at least something that works differently than what I understood. 

ros2 launch linorobot2_bringup bringup.launch.py urdf:=/home/pitosalas/linorobot2_ws/src/dome/config/dome1.urdf.xacro

If you look at that bringup.launch.py you sill see that it does DeclareLaunchArgument called urdf. However it is not used in any of the nodes created or included launch files. But if you follow the trail you see that bringup.launch.py includes default_robot.launch.py which in turn includes description.launch.py, which finally does declare a launch argument called urdf.

What I think I am seeing is that the very first urdf:= seems to be setting a global context of some kind which is used in description.launc.py.

Am I reading this correctly? Is that how it is supposed to work?

Best,

Pito

Boston Robot Hackers && 

Comp. Sci Faculty, Brandeis University (Emeritus)

[Ken Gregson]

Seems like it might be consistent with launch file parameter passing/handling described here?

https://tom-howard.github.io/com2009/course/extras/launch-file-args/

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