From 7872ec6d66901a56d89045a50db328671abced7f Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Sat, 4 Mar 2023 20:39:43 +0900 Subject: [PATCH] Fix hardware_connected arg --- mini_pupper_gazebo/launch/gazebo.launch.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/mini_pupper_gazebo/launch/gazebo.launch.py b/mini_pupper_gazebo/launch/gazebo.launch.py index 746c36b..0a48cd9 100644 --- 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 ])