Geat headless mode working

azazdeaz · azazdeaz · commit d66437314f23 · 2025-04-09T13:14:44.000+02:00
diff --git a/src/sam_bot_nav2_gz/launch/waypoint_follower_example_launch.py b/src/sam_bot_nav2_gz/launch/waypoint_follower_example_launch.py
@@ -135,7 +135,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(nav2_bringup_dir, "launch", "rviz_launch.py")
         ),
-        condition=IfCondition(use_rviz),
+        condition=IfCondition(PythonExpression([use_rviz, " and not ", headless])),
         launch_arguments={"namespace": ""}.items(),
     )
 
diff --git a/src/sam_bot_nav2_gz/test/test_follow_waypoints.py b/src/sam_bot_nav2_gz/test/test_follow_waypoints.py
@@ -63,7 +63,7 @@ def navigation_stack():
         "sam_bot_nav2_gz",
         "waypoint_follower_example_launch.py",
         f"world_file:={world}",
-        "run_headless:=True",
+        "headless:=True",
     ]
     print(f"Starting navigation stack with command: {' '.join(launch_cmd)}")
 

Original file line number	Diff line number	Diff line change
`@@ -135,7 +135,7 @@ def generate_launch_description():`
`135`	`135`	`PythonLaunchDescriptionSource(`
`136`	`136`	`os.path.join(nav2_bringup_dir, "launch", "rviz_launch.py")`
`137`	`137`	`),`
`138`		`- condition=IfCondition(use_rviz),`
	`138`	`+ condition=IfCondition(PythonExpression([use_rviz, " and not ", headless])),`
`139`	`139`	`launch_arguments={"namespace": ""}.items(),`
`140`	`140`	`)`
`141`	`141`
Original file line number	Diff line number	Diff line change
`@@ -63,7 +63,7 @@ def navigation_stack():`
`63`	`63`	`"sam_bot_nav2_gz",`
`64`	`64`	`"waypoint_follower_example_launch.py",`
`65`	`65`	`f"world_file:={world}",`
`66`		`- "run_headless:=True",`
	`66`	`+ "headless:=True",`
`67`	`67`	`]`
`68`	`68`	`print(f"Starting navigation stack with command: {' '.join(launch_cmd)}")`
`69`	`69`