From c463bce2724739b9c0233ef5e64311088d3c55f3 Mon Sep 17 00:00:00 2001
From: Jeremy Salwen <jeremysalwen@gmail.com>
Date: Tue, 1 Oct 2024 15:17:27 -0400
Subject: [PATCH] Add OM_NO_COMMS env var for disabling comms node (#153)

This is used by mowgli since it does not use the comms node.

---------

Co-authored-by: Clemens Elflein <clemens1@familie-elflein.de>
---
 src/open_mower/launch/include/_comms.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/open_mower/launch/include/_comms.launch b/src/open_mower/launch/include/_comms.launch
index 178bec7c..87cb3ac9 100644
--- a/src/open_mower/launch/include/_comms.launch
+++ b/src/open_mower/launch/include/_comms.launch
@@ -5,7 +5,7 @@
 <launch>
     <!-- TODO: Add parameter for simulation -->
 
-    <node pkg="mower_comms" type="mower_comms" name="mower_comms" output="screen">
+    <node pkg="mower_comms" type="mower_comms" name="mower_comms" unless="$(optenv OM_NO_COMMS False)" output="screen">
         <rosparam unless="$(eval env('OM_MOWER')=='CUSTOM')" file="$(find open_mower)/params/hardware_specific/$(env OM_MOWER)/comms_general_params.yaml"/>
         <rosparam unless="$(eval env('OM_MOWER')=='CUSTOM')" file="$(find open_mower)/params/hardware_specific/$(env OM_MOWER)/comms_$(env OM_MOWER_ESC_TYPE)_params.yaml"/>
         <rosparam if="$(eval env('OM_MOWER')=='CUSTOM')" file="$(env HOME)/mower_params/comms_params.yaml"/>