bringup.launch: add enable/disable arguments for sensors

launch/bringup.launch

@@ -3,6 +3,11 @@
   
   <arg name="ns" default="helena"/>
   
+  <arg name="platform" default="true"/>
+  <arg name="lidar"    default="true"/>
+  <arg name="camera"   default="true"/>
+  <arg name="imu"      default="true"/>
+  
   <arg name="pioneer_config_file"     default="$(find iri_helena_bringup)/config/helena_pioneer.yaml" />
 
   <arg name="robosense_config_file" default="$(find iri_helena_bringup)/config/helena_rs16.yaml" />
@@ -24,48 +29,56 @@
   <remap from="/$(arg ns)/rosaria/cmd_vel" to="/$(arg ns)/cmd_vel"/>
   <remap from="/$(arg ns)/rosaria/pose"    to="/$(arg ns)/odom"/>
 
-  <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
-    <arg name="ns"            value="$(arg ns)"/>
-    <arg name="config_file"   value="$(arg pioneer_config_file)"/>
-    <arg name="output"        value="$(arg output)"/>
-    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
-  </include>
+  <group if="$(arg platform)">
+    <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
+      <arg name="ns"            value="$(arg ns)"/>
+      <arg name="config_file"   value="$(arg pioneer_config_file)"/>
+      <arg name="output"        value="$(arg output)"/>
+      <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    </include>
+    
+    <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
+      <arg name="ns"                    value="$(arg ns)"/>
+      <arg name="nodelet_manager_name"  value="mux_nodelet_manager"/>
+      <arg name="config"                value="$(arg cmd_vel_mux_config)"/>
+      <arg name="output"                value="$(arg output)" />
+      <arg name="launch_prefix"         value="$(arg launch_prefix)" />
+    </include>
+  </group>
 
   <group ns="$(arg ns)">
 
     <group ns="sensors">
       
-      <include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch">
-        <arg name="config_file"   value="$(arg robosense_config_file)"/>
-        <arg name="node_name"     value="$(arg robosense_node_name)"/>
-        <arg name="output"        value="$(arg output)"/>
-        <arg name="launch_prefix" value="$(arg launch_prefix)"/>
-      </include>
+      <group if="$(arg lidar)">
+        <include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch">
+          <arg name="config_file"   value="$(arg robosense_config_file)"/>
+          <arg name="node_name"     value="$(arg robosense_node_name)"/>
+          <arg name="output"        value="$(arg output)"/>
+          <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+        </include>
+      </group>
 
-      <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
-        <arg name="config_file" value="$(arg realsense_config_file)"/>
-        <arg name="camera_name" value="$(arg realsense_camera_name)"/>
-        <arg name="tf_prefix"   value="$(arg realsense_tf_prefix)"/>
-      </include>
+      <group if="$(arg camera)">
+        <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
+          <arg name="config_file" value="$(arg realsense_config_file)"/>
+          <arg name="camera_name" value="$(arg realsense_camera_name)"/>
+          <arg name="tf_prefix"   value="$(arg realsense_tf_prefix)"/>
+        </include>
+      </group>
 
-      <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
-        <arg name="config_file"      value="$(arg imu_config_file)"/>
-        <arg name="calibration_file" value="$(arg imu_calibration_file)"/>
-        <arg name="node_name"        value="$(arg imu_node_name)"/>
-        <arg name="output"           value="$(arg output)"/>
-        <arg name="launch_prefix"    value="$(arg launch_prefix)"/>
-      </include>
+      <group if="$(arg imu)">
+        <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
+          <arg name="config_file"      value="$(arg imu_config_file)"/>
+          <arg name="calibration_file" value="$(arg imu_calibration_file)"/>
+          <arg name="node_name"        value="$(arg imu_node_name)"/>
+          <arg name="output"           value="$(arg output)"/>
+          <arg name="launch_prefix"    value="$(arg launch_prefix)"/>
+        </include>
+      </group>
 
     </group>
 
   </group>
 
-  <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
-    <arg name="ns"                    value="$(arg ns)"/>
-    <arg name="nodelet_manager_name"  value="mux_nodelet_manager"/>
-    <arg name="config"                value="$(arg cmd_vel_mux_config)"/>
-    <arg name="output"                value="$(arg output)" />
-    <arg name="launch_prefix"         value="$(arg launch_prefix)" />
-  </include>
-
 </launch>