add mocap launch variable

IMRCLab · May 31, 2024 · 796c5b5 · 796c5b5
1 parent 33fae44
commit 796c5b5
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py
@@ -5,7 +5,7 @@
 from launch.actions import DeclareLaunchArgument
 from launch_ros.actions import Node
 from launch.conditions import LaunchConfigurationEquals
-from launch.conditions import LaunchConfigurationNotEquals
+from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
 
 
@@ -83,13 +83,14 @@ def generate_launch_description():
         DeclareLaunchArgument('debug', default_value='False'),
         DeclareLaunchArgument('rviz', default_value='False'),
         DeclareLaunchArgument('gui', default_value='True'),
+        DeclareLaunchArgument('mocap', default_value='True'),
         DeclareLaunchArgument('server_yaml_file', default_value=''),
         DeclareLaunchArgument('teleop_yaml_file', default_value=''),
         DeclareLaunchArgument('mocap_yaml_file', default_value=''),
         Node(
             package='motion_capture_tracking',
             executable='motion_capture_tracking_node',
-            condition=LaunchConfigurationNotEquals('backend','sim'),
+            condition=IfCondition(PythonExpression(["'", LaunchConfiguration('backend'), "' != 'sim' and '", LaunchConfiguration('mocap'), "' == 'True'"])),
             name='motion_capture_tracking',
             output='screen',
             parameters= [PythonExpression(["'tmp_motion_capture.yaml' if '", LaunchConfiguration('mocap_yaml_file'), "' == '' else '", LaunchConfiguration('mocap_yaml_file'), "'"])],

diff --git a/docs2/usage.rst b/docs2/usage.rst
@@ -179,6 +179,9 @@ Also it is a good idea to turn on pose estimation logging such that you are able
             pose:
             frequency: 10 # Hz
 
+
+Moreover, be aware that the motion capture node is enabled in the launch file by default, which can be turned off by adding 'mocap:=False' to the launch command.
+
 Simulation
 ----------
-Original file line number
+Diff line change
@@ Expand Up @@
                 pose:
                 frequency: 10 # Hz
+    Moreover, be aware that the motion capture node is enabled in the launch file by default, which can be turned off by adding 'mocap:=False' to the launch command.
     Simulation
     ----------
@@ Expand Down @@