Do not require LDS_MODEL to be set in robot.launch.py - #1152
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The Bringup page of the e-Manual documents the startup sequence as
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_bringup robot.launch.py
and never mentions LDS_MODEL. Following it exactly fails before any node
starts:
KeyError: 'LDS_MODEL'
InvalidFrontendLaunchFileError: The launch file may have a syntax error,
or its format is unknown
The second line is misleading, since the launch file is fine and only an
environment variable is missing.
robot.launch.py already defines what to do with an unrecognised LDS_MODEL:
the final else branch selects hls_lfcd_lds_driver, the same driver as the
'LDS-01' branch. An unset variable is the only case that raises instead of
reaching that fallback. Reading it with os.environ.get() lets None fall into
the existing else branch, which is also consistent with the ROS_DISTRO lookup
two lines above.
Explicit values are unaffected: 'LDS-02' still selects ld08_driver and
'LDS-03' still selects coin_d4_driver.
Signed-off-by: mmporong <mmporong@gmail.com>
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Issue: Fixes #1151. The e-Manual bringup steps (
export TURTLEBOT3_MODEL=burgerthen
ros2 launch turtlebot3_bringup robot.launch.py) never setLDS_MODEL, sofollowing the documentation raises
KeyError: 'LDS_MODEL'together with themisleading
InvalidFrontendLaunchFileError: The launch file may have a syntax error.Fix: one line.
This relies on behaviour the file already has. The final
elsebranch selectshls_lfcd_lds_driver, the same driver as the'LDS-01'branch, so an unrecognisedvalue is already treated as LDS-01. Only an unset variable raised before reaching that
fallback. It also matches the
ROS_DISTROlookup two lines above, which already usesos.environ.get().Verification:
ros-humble-turtlebot3-bringup2.3.6,TURTLEBOT3_MODEL=burger.LDS_MODELunsetKeyError: 'LDS_MODEL', nothing startsrobot_state_publisher,hlds_laser_publisher,turtlebot3_rosall startLDS_MODEL=LDS-01hls_lfcd_lds_driverLDS_MODEL=LDS-02ld08_driverLDS_MODEL=LDS-03coin_d4_driverIf you would rather keep the variable mandatory, the alternative is to raise a
RuntimeErrornaming the accepted values instead of letting theKeyErrorsurface. Iwent with
.get()because it makes the documented startup sequence work without adocumentation change, but I am happy to switch.