From e320039cad8ffa721724fa24a82ac9931760e248 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Sat, 12 Oct 2024 13:11:22 +0200
Subject: [PATCH] Pass `use_sim_time` to MoveIt's RViz instance

When running with sim_time, we need to pass that to the RViz instance, as well.
---
 ur_moveit_config/launch/ur_moveit.launch.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
index 40851c8d5..f6ec537bb 100644
--- a/ur_moveit_config/launch/ur_moveit.launch.py
+++ b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -175,6 +175,9 @@ def generate_launch_description():
             moveit_config.planning_pipelines,
             moveit_config.joint_limits,
             warehouse_ros_config,
+            {
+                "use_sim_time": use_sim_time,
+            },
         ],
     )