From da38bbbf41318ebf08ed9f20b98df8b3a67549f7 Mon Sep 17 00:00:00 2001 From: Rin Iwai Date: Sun, 12 Nov 2023 14:58:46 +0900 Subject: [PATCH] disable state publishers --- launch/driver.launch.py | 54 ++++++++++++++++++++--------------------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/launch/driver.launch.py b/launch/driver.launch.py index 711b4cf3..bb6b671c 100644 --- 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"))), ]) \ No newline at end of file