From dbad0b8262631705939e591a97b42cf65a6cdaf6 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Fri, 10 Jul 2026 19:07:38 +0900 Subject: [PATCH] =?UTF-8?q?use=5Fisaacsim=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- sciurus17_control/launch/sciurus17_control.launch.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/sciurus17_control/launch/sciurus17_control.launch.py b/sciurus17_control/launch/sciurus17_control.launch.py index a0480c8..db6b121 100644 --- a/sciurus17_control/launch/sciurus17_control.launch.py +++ b/sciurus17_control/launch/sciurus17_control.launch.py @@ -80,6 +80,12 @@ def generate_launch_description(): description='Use mock_components or not.' ) + declare_use_isaacsim = DeclareLaunchArgument( + 'use_isaacsim', + default_value='false', + description='Use IsaacSim or not.' + ) + declare_gz_control_config_package = DeclareLaunchArgument( 'gz_control_config_package', default_value='', @@ -100,6 +106,7 @@ def generate_launch_description(): description_loader.use_gazebo_head_camera = LaunchConfiguration('use_gazebo_head_camera') description_loader.use_gazebo_chest_camera = LaunchConfiguration('use_gazebo_chest_camera') description_loader.use_mock_components = LaunchConfiguration('use_mock_components') + description_loader.use_isaacsim = LaunchConfiguration('use_isaacsim') description_loader.gz_control_config_package = LaunchConfiguration('gz_control_config_package') description_loader.gz_control_config_file_path = LaunchConfiguration( 'gz_control_config_file_path' @@ -182,6 +189,7 @@ def generate_launch_description(): declare_use_gazebo_head_camera, declare_use_gazebo_chest_camera, declare_use_mock_components, + declare_use_isaacsim, declare_gz_control_config_package, declare_gz_control_config_file_path, robot_state_publisher,