Commit d04d75c1 authored by Paul Bovbel's avatar Paul Bovbel Committed by GitHub
Browse files

Merge pull request #48 from renweizhukov/kinetic-devel

description.launch should be launched only once when multimaster is false.
parents 8d2b2ca1 85e9b067
......@@ -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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