Fix launch files - remove incorrect PathJoinSubstitution wrapper

yconst · claude · yconst · commit 77bbe74545ec · 2026-01-22T16:43:21.000+02:00
FindExecutable should be used directly, not wrapped in PathJoinSubstitution.
This was causing 'executable not found on PATH' error.

Co-Authored-By: Claude &lt;noreply@anthropic.com&gt;
diff --git a/launch/my_robot.launch.py b/launch/my_robot.launch.py
@@ -23,7 +23,7 @@ def generate_launch_description():
     # Get URDF via xacro - using MY_ROBOT configuration
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            FindExecutable(name="xacro"),
             " ",
             PathJoinSubstitution(
                 [FindPackageShare("tinymovr_ros"), "urdf", "my_robot.urdf.xacro"]
diff --git a/launch/tinymovr_diffbot_demo.launch.py b/launch/tinymovr_diffbot_demo.launch.py
@@ -23,7 +23,7 @@ def generate_launch_description():
     # Get URDF via xacro
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            FindExecutable(name="xacro"),
             " ",
             PathJoinSubstitution(
                 [FindPackageShare("tinymovr_ros"), "urdf", "tinymovr_diffbot.urdf.xacro"]

Original file line number	Diff line number	Diff line change
`@@ -23,7 +23,7 @@ def generate_launch_description():`
`23`	`23`	`# Get URDF via xacro - using MY_ROBOT configuration`
`24`	`24`	`robot_description_content = Command(`
`25`	`25`	`[`
`26`		`- PathJoinSubstitution([FindExecutable(name="xacro")]),`
	`26`	`+ FindExecutable(name="xacro"),`
`27`	`27`	`" ",`
`28`	`28`	`PathJoinSubstitution(`
`29`	`29`	`[FindPackageShare("tinymovr_ros"), "urdf", "my_robot.urdf.xacro"]`