Merge pull request #550 from IMRCLab/add-teleop-parameter

Add teleop parameter for server launch file
IMRCLab · Aug 5, 2024 · 77f2f3d · 77f2f3d
2 parents 5d0efc4 + de09edb
commit 77f2f3d
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py
@@ -115,10 +115,12 @@ def generate_launch_description():
         DeclareLaunchArgument('debug', default_value='False'),
         DeclareLaunchArgument('rviz', default_value='False'),
         DeclareLaunchArgument('gui', default_value='True'),
+        DeclareLaunchArgument('teleop', default_value='True'),
         DeclareLaunchArgument('mocap', default_value='True'),
         DeclareLaunchArgument('teleop_yaml_file', default_value=''),
         OpaqueFunction(function=parse_yaml),
         Node(
+            condition=LaunchConfigurationEquals('teleop', 'True'),
             package='crazyflie',
             executable='teleop',
             name='teleop',
@@ -135,6 +137,7 @@ def generate_launch_description():
             parameters= [PythonExpression(["'" + telop_yaml_path +"' if '", LaunchConfiguration('teleop_yaml_file'), "' == '' else '", LaunchConfiguration('teleop_yaml_file'), "'"])],
         ),
         Node(
+            condition=LaunchConfigurationEquals('teleop', 'True'),
             package='joy',
             executable='joy_node',
             name='joy_node' # by default id=0