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Commit 1807dc95 authored by Fernando Herrero's avatar Fernando Herrero
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add state_pub bool

parent d9471177
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......@@ -3,6 +3,7 @@
<arg name="ns" default="helena"/>
<arg name="model" default="helena"/>
<arg name="state_pub" default="true" />
<arg name="static_wheels" default="false" />
<group ns="$(arg ns)">
......@@ -10,7 +11,10 @@
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find iri_helena_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<node if="$(arg state_pub)"
pkg="robot_state_publisher"
type="robot_state_publisher"
name="robot_state_publisher">
<param name="tf_prefix" type="string" value="/$(arg ns)"/>
<param name="publish_frequency" type="double" value="20.0"/>
</node>
......
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