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Add namespace for wheel robot #52

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merged 1 commit into from
Mar 19, 2024
Merged

Add namespace for wheel robot #52

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10 changes: 9 additions & 1 deletion ros/kxr_controller/launch/kxr_controller_for_wheel.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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)" />
Expand All @@ -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>
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