From cc1154926348943b7cad88fc1c3d7a725620c882 Mon Sep 17 00:00:00 2001
From: sugihara <sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 18 Oct 2023 23:39:58 +0900
Subject: [PATCH] [Mujoco][hydrus] fix servo bridge node in launcher for mujoco

---
 aerial_robot_simulation/launch/mujoco.launch | 2 +-
 robots/hydrus/launch/bringup.launch          | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/aerial_robot_simulation/launch/mujoco.launch b/aerial_robot_simulation/launch/mujoco.launch
index ff8761979..f16869225 100644
--- a/aerial_robot_simulation/launch/mujoco.launch
+++ b/aerial_robot_simulation/launch/mujoco.launch
@@ -4,7 +4,7 @@
   <arg name="headless" default="false" />
   <arg name="mujoco_model" default="" />
 
-  <!-- mujoco ros controll -->
+  <!-- mujoco ros control -->
   <include file="$(find mujoco_ros_control)/launch/mujoco.launch" >
     <arg name="robot_ns" value="$(arg robot_ns)" />
     <arg name="headless" value="$(arg headless)"/>
diff --git a/robots/hydrus/launch/bringup.launch b/robots/hydrus/launch/bringup.launch
index 97250ca83..2a15608d8 100644
--- a/robots/hydrus/launch/bringup.launch
+++ b/robots/hydrus/launch/bringup.launch
@@ -83,7 +83,9 @@
   </include >
 
   ###########  Servo Bridge  ###########
-  <node pkg="aerial_robot_model" type="servo_bridge_node" name="servo_bridge" ns="$(arg robot_ns)" output="screen" />
+  <node pkg="aerial_robot_model" type="servo_bridge_node" name="servo_bridge" ns="$(arg robot_ns)" output="screen" >
+    <param name="use_mujoco" value="true" if="$(arg mujoco)"/>
+  </node>
 
   ########## Simulation in Gazebo #########
   <include file="$(find aerial_robot_simulation)/launch/gazebo.launch" if = "$(eval arg('simulation') and not arg('real_machine') and not arg('mujoco'))" >