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demo.launch.pyにuse_sim_timeを追加 #189

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Merged
Kuwamai merged 3 commits into from
Jul 9, 2026
Merged

demo.launch.pyにuse_sim_timeを追加 #189

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c0987c0
use_sim_timeを追加
YusukeKato Jul 8, 2026
9f631a4
use_sim_timeを切り替えられるように修正
YusukeKato Jul 8, 2026
efac598
記述忘れ
YusukeKato Jul 8, 2026
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9 changes: 9 additions & 0 deletions sciurus17_examples/launch/demo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import SetParameter


def generate_launch_description():
Expand All @@ -30,6 +31,12 @@ def generate_launch_description():
'use_chest_camera', default_value='true', description='Use chest camera.'
)

declare_use_sim_time = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description=('Set true when using the simulator.'),
)

move_group = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
Expand Down Expand Up @@ -64,6 +71,8 @@ def generate_launch_description():

return LaunchDescription(
[
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
declare_use_sim_time,
declare_use_head_camera,
declare_use_chest_camera,
move_group,
Expand Down
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