Merge pull request #52 from iory/wheel

Add namespace for wheel robot
iory · Mar 19, 2024 · 8093667 · 8093667
2 parents cb659bb + 55f6bfd
commit 8093667
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/ros/kxr_controller/launch/kxr_controller_for_wheel.launch b/ros/kxr_controller/launch/kxr_controller_for_wheel.launch
@@ -8,6 +8,7 @@
   <arg name="use_rcb4" default="false" doc="Flag to use RCB4 mini board"/>
   <arg name="device" default="" doc="Device path"/>
   <arg name="model_server_port" default="8123" />
+  <arg name="namespace" default="" />
 
   <include file="$(find kxr_controller)/launch/kxr_controller.launch" >
     <arg name="urdf_path" value="$(arg urdf_path)" />
@@ -18,8 +19,15 @@
     <arg name="publish_imu" value="$(arg publish_imu)" />
     <arg name="publish_sensor" value="$(arg publish_sensor)" />
     <arg name="publish_battery_voltage" value="$(arg publish_battery_voltage)" />
+    <arg name="namespace" value="$(arg namespace)" />
   </include>
 
-  <include file="$(find kxr_controller)/launch/diff_drive_controller.launch" />
+  <group if="$(eval len(arg('namespace')) > 0)" ns="$(arg namespace)" >
+    <include file="$(find kxr_controller)/launch/diff_drive_controller.launch" />
+  </group>
+
+  <group unless="$(eval len(arg('namespace')) > 0)">
+    <include file="$(find kxr_controller)/launch/diff_drive_controller.launch" />
+  </group>
 
 </launch>