Added a new argument to choose to show the bodywork or not.

launch/adc_sim.launch

@@ -11,6 +11,11 @@
   <arg name="car_y"                       default="0.0"/>
   <arg name="car_yaw"                     default="0.0"/>
 
+  <arg name="bodywork"                    default="Fasle"/>
+  <arg name="model"                       default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
+  <arg name="model"                       default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
+
+
   <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
     <arg name="name"                       value="adc_car"/>
     <arg name="output"                     value="$(arg output)"/>
@@ -21,6 +26,7 @@
     <arg name="car_y"                      value="$(arg car_y)"/>
     <arg name="car_yaw"                    value="$(arg car_yaw)"/>
     <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
+    <arg name="model"                      value="$(arg model)"/>
     <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
     <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
     <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>

launch/adc_sim_env.launch

@@ -17,6 +17,10 @@
   <arg name="road_y"                      default="0.0"/>
   <arg name="road_yaw"                    default="0.0"/>
 
+  <arg name="bodywork"                    default="Fasle"/>
+  <arg name="model"                       default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
+  <arg name="model"                       default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
+
   <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
     <arg name="name"                       value="adc_car"/>
     <arg name="output"                     value="$(arg output)"/>
@@ -27,6 +31,7 @@
     <arg name="car_y"                      value="$(arg car_y)"/>
     <arg name="car_yaw"                    value="$(arg car_yaw)"/>
     <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
+    <arg name="model"                      value="$(arg model)"/>
     <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
     <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
     <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>