From 97b1b562211b07e7d47ad9f3e99da629094d7d1a Mon Sep 17 00:00:00 2001
From: jyang-cpr <jyang@clearpathrobotics.com>
Date: Mon, 20 Dec 2021 13:42:05 -0500
Subject: [PATCH] Add subst_value="true" to rosparam command="load" to
 correctly resolve prefix argument

---
 .../launch/husky_dual_gen3_bringup.launch                 | 8 ++++----
 husky_kinova_bringup/launch/husky_gen3_bringup.launch     | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/husky_kinova_bringup/launch/husky_dual_gen3_bringup.launch b/husky_kinova_bringup/launch/husky_dual_gen3_bringup.launch
index 597ba37..e14945e 100644
--- a/husky_kinova_bringup/launch/husky_dual_gen3_bringup.launch
+++ b/husky_kinova_bringup/launch/husky_dual_gen3_bringup.launch
@@ -65,8 +65,8 @@
         <param name="dof" value="$(arg left_dof)"/>
         <param name="use_hard_limits" value="$(arg use_hard_limits)"/>
         <param name="prefix" value="$(arg left_prefix)"/>
-        <rosparam command="load" file="$(find kortex_description)/arms/$(arg left_arm)/$(arg left_dof)dof/config/joint_limits.yaml"/>
-        <rosparam command="load" file="$(find kortex_description)/grippers/$(arg left_gripper)/config/joint_limits.yaml" unless="$(eval not arg('left_gripper'))"/>
+        <rosparam command="load" file="$(find kortex_description)/arms/$(arg left_arm)/$(arg left_dof)dof/config/joint_limits.yaml" subst_value="true"/>
+        <rosparam command="load" file="$(find kortex_description)/grippers/$(arg left_gripper)/config/joint_limits.yaml" unless="$(eval not arg('left_gripper'))" subst_value="true"/>
     </node>
     <!-- Start the right arm kortex_driver node -->
     <node name="$(arg right_robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver" output="screen" ns="$(arg right_robot_name)">
@@ -84,8 +84,8 @@
         <param name="dof" value="$(arg right_dof)"/>
         <param name="use_hard_limits" value="$(arg use_hard_limits)"/>
         <param name="prefix" value="$(arg right_prefix)"/>
-        <rosparam command="load" file="$(find kortex_description)/arms/$(arg right_arm)/$(arg right_dof)dof/config/joint_limits.yaml"/>
-        <rosparam command="load" file="$(find kortex_description)/grippers/$(arg right_gripper)/config/joint_limits.yaml" unless="$(eval not arg('right_gripper'))"/>
+        <rosparam command="load" file="$(find kortex_description)/arms/$(arg right_arm)/$(arg right_dof)dof/config/joint_limits.yaml" subst_value="true"/>
+        <rosparam command="load" file="$(find kortex_description)/grippers/$(arg right_gripper)/config/joint_limits.yaml" unless="$(eval not arg('right_gripper'))" subst_value="true"/>
     </node>
 
     <!-- Start joint and robot state publisher -->
diff --git a/husky_kinova_bringup/launch/husky_gen3_bringup.launch b/husky_kinova_bringup/launch/husky_gen3_bringup.launch
index 35681ca..6acc8cd 100644
--- a/husky_kinova_bringup/launch/husky_gen3_bringup.launch
+++ b/husky_kinova_bringup/launch/husky_gen3_bringup.launch
@@ -38,8 +38,8 @@
       <param name="dof" value="$(arg dof)"/>
       <param name="use_hard_limits" value="$(arg use_hard_limits)"/>
       <param name="prefix" value="$(arg prefix)"/>
-      <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml"/>
-      <rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))"/>
+      <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml" subst_value="true"/>
+      <rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))" subst_value="true"/>
   </node>
 
   <node name="joint_state_relay" type="relay" pkg="topic_tools" args="/kinova_arm/joint_states /joint_states" />