From fa31f8e6324048a1fae7d16f2032946e4f8a9a72 Mon Sep 17 00:00:00 2001
From: Vivian Chu <vchu@gatech.edu>
Date: Wed, 2 Nov 2016 15:54:38 -0500
Subject: [PATCH] add in flags to turn on octomap filtering using a pointcloud

---
 hlpr_gazebo/launch/vector.launch             | 2 ++
 hlpr_gazebo/launch/vector_controllers.launch | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/hlpr_gazebo/launch/vector.launch b/hlpr_gazebo/launch/vector.launch
index c9e8a87..7fb5824 100644
--- a/hlpr_gazebo/launch/vector.launch
+++ b/hlpr_gazebo/launch/vector.launch
@@ -11,6 +11,7 @@
     <arg name="wpi_jaco_launch" default="false" />
     <arg name="use_wpi_jaco_exec" default="false" />
     <arg name="robot_spawn_loc" default="" />
+    <arg name="use_octomap" default="false" />
 
 
     <!-- startup simulated world -->
@@ -34,6 +35,7 @@
         <arg name="moveit_launch" value="$(arg moveit_launch)" />
         <arg name="wpi_jaco_launch" value="$(arg wpi_jaco_launch)" />
         <arg name="use_wpi_jaco_exec" value="$(arg use_wpi_jaco_exec)" />
+        <arg name="use_octomap" value="$(arg use_octomap)" />
     </include>
 
     <!-- Setup all of the TFs, states, etc. --> 
diff --git a/hlpr_gazebo/launch/vector_controllers.launch b/hlpr_gazebo/launch/vector_controllers.launch
index f2e43da..beae4e2 100644
--- a/hlpr_gazebo/launch/vector_controllers.launch
+++ b/hlpr_gazebo/launch/vector_controllers.launch
@@ -7,6 +7,7 @@
     <arg name="moveit_launch" default="false" />
     <arg name="wpi_jaco_launch" default="false"/>
     <arg name="use_wpi_jaco_exec" default="false"/>
+    <arg name="use_octomap" default="false"/>
 
     <!-- Load moveit and wpi_jaco arm wrappers -->
     <group if="$(arg moveit_launch)">
@@ -14,6 +15,7 @@
             <arg name="wpi_jaco_launch" value="$(arg wpi_jaco_launch)"/>
             <arg name="use_wpi_jaco_exec" value="$(arg use_wpi_jaco_exec)"/>
             <arg name="sim" value="true"/>
+            <arg name="use_octomap" value="$(arg use_octomap)"/>
         </include>
     </group>