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Fix launch file to avoid launching packages for real robots during simulation #51

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merged 1 commit into from
Mar 6, 2023
Merged

Fix launch file to avoid launching packages for real robots during simulation #51

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10 changes: 5 additions & 5 deletions mini_pupper_gazebo/launch/gazebo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"),
Expand Down Expand Up @@ -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'
)
Expand All @@ -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",
Expand Down Expand Up @@ -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
])