mir_debug_urdf.launch: Fix GUI display

AAU-RoboticsAutomationGroup · Oct 14, 2022 · 296e2ab · 296e2ab
1 parent 383f327
commit 296e2ab
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/mir_description/launch/mir_debug_urdf.launch b/mir_description/launch/mir_debug_urdf.launch
@@ -6,9 +6,8 @@
   <!-- load MiR URDF -->
   <include file="$(find mir_description)/launch/upload_mir_urdf.launch" />
 
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg gui)"/>
-  </node>
+  <node if="$(arg gui)"     name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher"     type="joint_state_publisher" />
 
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 

diff --git a/mir_description/package.xml b/mir_description/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>rviz2</exec_depend>