Avoid node clashing when USE_COLLISIONCHECK is true

start-jsk · Jun 29, 2018 · 60ea7b6 · 60ea7b6
1 parent 8d5c2ce
commit 60ea7b6
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/hironx_ros_bridge/launch/hironx_ros_bridge.launch b/hironx_ros_bridge/launch/hironx_ros_bridge.launch
@@ -48,7 +48,7 @@
 
   <!-- Collision detection here runs external to the robot (on Ubuntu) and 
        visualizes the distance between each links. -->
-  <include file="$(find hrpsys_ros_bridge)/launch/collision_detector.launch">
+  <include file="$(find hrpsys_ros_bridge)/launch/collision_detector.launch" unless="$(arg USE_COLLISIONCHECK)">
     <arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
     <arg name="CONF_FILE" value="$(arg CONF_FILE_COLLISIONDETECT)" />
     <arg name="corbaport" default="$(arg corbaport)" />

diff --git a/hironx_ros_bridge/launch/hironx_ros_bridge_real.launch b/hironx_ros_bridge/launch/hironx_ros_bridge_real.launch
@@ -8,6 +8,7 @@
   <arg name="USE_ROBOTHARDWARE" default="true" />
   <arg name="USE_SERVOCONTROLLER" default="true" />
   <arg name="USE_IMPEDANCECONTROLLER" default="false"/>
+  <arg name="USE_COLLISIONCHECK" default="false"/>
   <arg name="USE_HAND_JOINT_STATE_PUBLISHER" default="true"/>
 
   <!-- BEGIN:hrpsys.py setting -->
@@ -32,6 +33,7 @@
     <arg name="USE_ROBOTHARDWARE" value="$(arg USE_ROBOTHARDWARE)" />
     <arg name="USE_SERVOCONTROLLER" value="$(arg USE_SERVOCONTROLLER)" />
     <arg name="USE_IMPEDANCECONTROLLER" value="$(arg USE_IMPEDANCECONTROLLER)"/>
+    <arg name="USE_COLLISIONCHECK" value="$(arg USE_COLLISIONCHECK)"/>
   </include>
 
   <node if="$(arg USE_HAND_JOINT_STATE_PUBLISHER)"