old_contents: # Copyright 2018 Open Source Robotics Foundation, Inc.
  #
  # Licensed under the Apache License, Version 2.0 (the "License");
  # you may not use this file except in compliance with the License.
  # You may obtain a copy of the License at
  #
  #     http://www.apache.org/licenses/LICENSE-2.0
  #
  # Unless required by applicable law or agreed to in writing, software
  # distributed under the License is distributed on an "AS IS" BASIS,
  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  # See the License for the specific language governing permissions and
  # limitations under the License.
  
  import os
  
  from ament_index_python.packages import get_package_share_directory
  from launch import LaunchDescription
  from launch_ros.actions import Node
  
  
  def generate_launch_description():
      # TODO(wjwwood): Use a substitution to find share directory once this is implemented in launch
      urdf = os.path.join(get_package_share_directory('dummy_robot_bringup'),
                          'launch', 'single_rrbot.urdf')
      return LaunchDescription([
          Node(package='dummy_map_server', node_executable='dummy_map_server', output='screen'),
          Node(package='robot_state_publisher', node_executable='robot_state_publisher',
               output='screen', arguments=[urdf]),
          Node(package='dummy_sensors', node_executable='dummy_joint_states', output='screen'),
          Node(package='dummy_sensors', node_executable='dummy_laser', output='screen')
      ])
  
new_contents: # Copyright 2018 Open Source Robotics Foundation, Inc.
  #
  # Licensed under the Apache License, Version 2.0 (the "License");
  # you may not use this file except in compliance with the License.
  # You may obtain a copy of the License at
  #
  #     http://www.apache.org/licenses/LICENSE-2.0
  #
  # Unless required by applicable law or agreed to in writing, software
  # distributed under the License is distributed on an "AS IS" BASIS,
  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  # See the License for the specific language governing permissions and
  # limitations under the License.
  
  import os
  
  from launch import LaunchDescription
  from launch_ros.actions import Node
  from launch_ros.substitutions import FindPackageShare
  
  
  def generate_launch_description():
      pkg_share = FindPackageShare('dummy_robot_bringup').find('dummy_robot_bringup')
      urdf_file = os.path.join(pkg_share, 'launch', 'single_rrbot.urdf')
      with open(urdf_file, 'r') as infp:
          robot_desc = infp.read()
      rsp_params = {'robot_description': robot_desc}
  
      return LaunchDescription([
          Node(package='dummy_map_server', node_executable='dummy_map_server', output='screen'),
          Node(package='robot_state_publisher', node_executable='robot_state_publisher_node',
               output='screen', parameters=[rsp_params]),
          Node(package='dummy_sensors', node_executable='dummy_joint_states', output='screen'),
          Node(package='dummy_sensors', node_executable='dummy_laser', output='screen')
      ])
  
subject: Switch dummy_robot_bringup to use parameter for rsp.