Commit 85e9b067 authored by Wei Ren's avatar Wei Ren
Browse files

description.launch should be launched only once when the flag multimaster is false.



This commit fixes #47.

Also delete the urdf subdirectory from the installation list of the package husky_gazebo
since the directory doesn't exist.

HOW BUILT
$ catkin_make_isolated --install --use-ninja

HOW VERIFIED
$ roslaunch husky_gazebo husky_playpen.launch
$ roslaunch husky_viz view_robot.launch

Verify that the LiDAR is present on the gazebo husky and works as expected.

Change-Id: I8797d561489250417dc8fe2b49d958993ca7949c
Signed-off-by: default avatarWei Ren <renwei@smartconn.cc>
parent 27acd318
......@@ -8,6 +8,6 @@ catkin_package()
roslaunch_add_file_check(launch)
install(
DIRECTORY launch worlds urdf
DIRECTORY launch worlds
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
......@@ -39,14 +39,14 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<group ns="$(arg robot_namespace)">
<include file="$(find husky_description)/launch/description.launch" >
<arg name="robot_namespace" value="$(arg robot_namespace)"/>
<arg name="laser_enabled" default="$(arg laser_enabled)"/>
<arg name="kinect_enabled" default="$(arg kinect_enabled)"/>
<arg name="urdf_extras" default="$(arg urdf_extras)"/>
</include>
<group if="$(arg multimaster)">
<include file="$(find husky_description)/launch/description.launch" >
<arg name="robot_namespace" value="$(arg robot_namespace)"/>
<arg name="laser_enabled" default="$(arg laser_enabled)"/>
<arg name="kinect_enabled" default="$(arg kinect_enabled)"/>
<arg name="urdf_extras" default="$(arg urdf_extras)"/>
</include>
<include file="$(find multimaster_launch)/launch/multimaster_gazebo_robot.launch">
<arg name="gazebo_interface" value="$(find husky_control)/config/gazebo_interface.yaml" />
<arg name="robot_namespace" value="$(arg robot_namespace)"/>
......@@ -57,9 +57,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</group>
<!-- For single master bringup, run robot control on the gazebo master -->
<!-- Note that husky_description/description.launch is already included in husky_control/control.launch. -->
<group unless="$(arg multimaster)">
<include file="$(find husky_control)/launch/control.launch">
<arg name="multimaster" value="$(arg multimaster)"/>
<arg name="laser_enabled" value="$(arg laser_enabled)"/>
<arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
<arg name="urdf_extras" value="$(arg urdf_extras)"/>
</include>
</group>
......
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