disable state publishers

tutrobo · Nov 12, 2023 · da38bbb · da38bbb
1 parent d276ba5
commit da38bbb
Showing 1 changed file with 27 additions and 27 deletions.
diff --git a/launch/driver.launch.py b/launch/driver.launch.py
@@ -163,31 +163,31 @@ def generate_launch_description():
             {'wired_sync_mode': launch.substitutions.LaunchConfiguration('wired_sync_mode')},
             {'subordinate_delay_off_master_usec': launch.substitutions.LaunchConfiguration('subordinate_delay_off_master_usec')}]),
     # If flag overwrite_robot_description is set:
-    launch_ros.actions.Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        name='robot_state_publisher',
-        parameters = [{'robot_description' : urdf}],
-        condition=conditions.IfCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
-    launch_ros.actions.Node(
-        package='joint_state_publisher',
-        executable='joint_state_publisher',
-        name='joint_state_publisher',
-        arguments=[urdf_path],
-        condition=conditions.IfCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
-    # If flag overwrite_robot_description is not set:
-    launch_ros.actions.Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        name='robot_state_publisher',
-        parameters = [{'robot_description' : urdf}],
-        remappings=remappings,
-        condition=conditions.UnlessCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
-    launch_ros.actions.Node(
-        package='joint_state_publisher',
-        executable='joint_state_publisher',
-        name='joint_state_publisher',
-        arguments=[urdf_path],
-        remappings=remappings,
-        condition=conditions.UnlessCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
+    # launch_ros.actions.Node(
+    #     package='robot_state_publisher',
+    #     executable='robot_state_publisher',
+    #     name='robot_state_publisher',
+    #     parameters = [{'robot_description' : urdf}],
+    #     condition=conditions.IfCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
+    # launch_ros.actions.Node(
+    #     package='joint_state_publisher',
+    #     executable='joint_state_publisher',
+    #     name='joint_state_publisher',
+    #     arguments=[urdf_path],
+    #     condition=conditions.IfCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
+    # # If flag overwrite_robot_description is not set:
+    # launch_ros.actions.Node(
+    #     package='robot_state_publisher',
+    #     executable='robot_state_publisher',
+    #     name='robot_state_publisher',
+    #     parameters = [{'robot_description' : urdf}],
+    #     remappings=remappings,
+    #     condition=conditions.UnlessCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
+    # launch_ros.actions.Node(
+    #     package='joint_state_publisher',
+    #     executable='joint_state_publisher',
+    #     name='joint_state_publisher',
+    #     arguments=[urdf_path],
+    #     remappings=remappings,
+    #     condition=conditions.UnlessCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
     ])