From 1807dc955c6d859adacf1fce64a0f15480a5a596 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 20 May 2021 11:12:11 +0200
Subject: [PATCH] add state_pub bool
---
launch/description.launch | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/launch/description.launch b/launch/description.launch
index 9a5520f..b715195 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -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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