Minor improvement of launch files

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Author: norro

system_modes_examples/launch/drive_base.launch.py

@@ -17,23 +17,15 @@
 
 import launch
 import launch.actions
-import launch.launch_description_sources
-import launch.substitutions
 import launch_ros
 
 
 def generate_launch_description():
-    launch.actions.DeclareLaunchArgument('modelfile', description='Path to modelfile')
-    modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
-                 '/example_modes.yaml')
-
-    node = launch_ros.actions.Node(
-        package='system_modes_examples',
-        executable='drive_base',
-        parameters=[{'modelfile': modelfile}],
-        output='screen')
-
-    description = launch.LaunchDescription()
-    description.add_action(node)
-
-    return description
+  default_modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
+                '/example_modes.yaml')
+  return launch.LaunchDescription([
+    launch_ros.actions.Node(
+      package='system_modes_examples',
+      executable='drive_base',
+      parameters=[{'modelfile': default_modelfile}],
+      output='screen')])

system_modes_examples/launch/manipulator.launch.py

@@ -17,23 +17,15 @@
 
 import launch
 import launch.actions
-import launch.launch_description_sources
-import launch.substitutions
 import launch_ros
 
 
 def generate_launch_description():
-    launch.actions.DeclareLaunchArgument('modelfile', description='Path to modelfile')
-    modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
-                 '/example_modes.yaml')
-
-    node = launch_ros.actions.Node(
-        package='system_modes_examples',
-        executable='manipulator',
-        parameters=[{'modelfile': modelfile}],
-        output='screen')
-
-    description = launch.LaunchDescription()
-    description.add_action(node)
-
-    return description
+  default_modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
+                '/example_modes.yaml')
+  return launch.LaunchDescription([
+    launch_ros.actions.Node(
+      package='system_modes_examples',
+      executable='manipulator',
+      parameters=[{'modelfile': default_modelfile}],
+      output='screen')])