add in flags to turn on octomap filtering using a pointcloud

HLP-R · Nov 2, 2016 · fa31f8e · fa31f8e
1 parent 4f06f50
commit fa31f8e
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git 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
@@ -7,13 +7,15 @@
     <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="$(arg moveit_launch)">
         <include file="$(find hlpr_wpi_jaco_moveit_config)/launch/hlpr_wpi_jaco_simple_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="sim" value="true"/>
+            <arg name="use_octomap" value="$(arg use_octomap)"/>
         </include>
     </group>