Fix launch file to avoid launching packages for real robots during si…

…mulation (#51)
mangdangroboticsclub · Mar 6, 2023 · b0a6bf9 · b0a6bf9
1 parent ab4bad7
commit b0a6bf9
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/mini_pupper_gazebo/launch/gazebo.launch.py b/mini_pupper_gazebo/launch/gazebo.launch.py
@@ -55,7 +55,7 @@ def generate_launch_description():
 
  robot_name = LaunchConfiguration("robot_name")
  sim = LaunchConfiguration("sim")
- hardware_connected = LaunchConfiguration("hardware_connected")
+ joint_hardware_connected = LaunchConfiguration("joint_hardware_connected")
  rviz = LaunchConfiguration("rviz")
  lite = LaunchConfiguration("lite")
  world = LaunchConfiguration("world"),
@@ -111,8 +111,8 @@ def generate_launch_description():
  default_value='true',
  description='Enable use_sime_time to true'
  )
- declare_hardware_connected = DeclareLaunchArgument(
- name='hardware_connected',
+ declare_joint_hardware_connected = DeclareLaunchArgument(
+ name='joint_hardware_connected',
  default_value='false',
  description='Set to true if connected to a physical robot'
  )
@@ -124,7 +124,7 @@ def generate_launch_description():
  "robot_name": robot_name,
  "gazebo": sim,
  "rviz": rviz,
- "hardware_connected": hardware_connected,
+ "joint_hardware_connected": joint_hardware_connected,
  "publish_foot_contacts": "true",
  "close_loop_odom": "true",
  "joint_controller_topic": "joint_group_effort_controller/joint_trajectory",
@@ -162,7 +162,7 @@ def generate_launch_description():
  declare_world_init_y,
  declare_world_init_heading,
  declare_sim,
- declare_hardware_connected,
+ declare_joint_hardware_connected,
  mini_pupper_bringup_launch,
  champ_gazebo_launch
  ])