From 4bbe8ce98ad5ca291cfcd5a9184233242b09bae9 Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Sat, 24 Feb 2024 23:23:51 +0100
Subject: [PATCH] dynamically update use_sim_time, depending on backend

Fixes #438
---
 crazyflie/launch/launch.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py
index 7676e175d..bd958cd10 100644
--- a/crazyflie/launch/launch.py
+++ b/crazyflie/launch/launch.py
@@ -134,7 +134,7 @@ def generate_launch_description():
             name='rviz2',
             arguments=['-d' + os.path.join(get_package_share_directory('crazyflie'), 'config', 'config.rviz')],
             parameters=[{
-                "use_sim_time": True,
+                "use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]),
             }]
         ),
         Node(
@@ -143,5 +143,8 @@ def generate_launch_description():
             namespace='',
             executable='gui.py',
             name='gui',
+            parameters=[{
+                "use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]),
+            }]
         ),
     ])