From a5320ba72523316c5b8fd3c2cc6bb64e7ffcb39e Mon Sep 17 00:00:00 2001 From: Youssef_Lahrouni Date: Tue, 6 Jul 2021 05:36:45 -0400 Subject: [PATCH] Update nav2_gazebo_spawner.py --- .../nav2_gazebo_spawner/nav2_gazebo_spawner.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py index 9f4daaf196c..3ce4f3b19b1 100644 --- a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py +++ b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py @@ -78,8 +78,8 @@ def main(): tree = ET.parse(sdf_file_path) root = tree.getroot() for plugin in root.iter('plugin'): - # TODO(orduno) Handle case if an sdf file from non-turtlebot is provided - if 'turtlebot3_diff_drive' in plugin.attrib.values(): + # use plugin filename to support non turtlebot sdf/urdf + if 'libgazebo_ros_diff_drive.so' == plugin.get('filename'): # The only plugin we care for now is 'diff_drive' which is # broadcasting a transform between`odom` and `base_footprint` break