From 55f6bfdb4dea049d4579764e29d37800e1e39354 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 20 Mar 2024 02:49:43 +0900
Subject: [PATCH] Add namespace for wheel robot

---
 .../launch/kxr_controller_for_wheel.launch             | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/ros/kxr_controller/launch/kxr_controller_for_wheel.launch b/ros/kxr_controller/launch/kxr_controller_for_wheel.launch
index 11c9b16f..43633584 100644
--- 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>