From 296e2abc5e64cf7d52b84d9b46d813ac11298e95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20G=C3=BCnther?= <martin.guenther@dfki.de>
Date: Fri, 10 Dec 2021 12:12:35 +0100
Subject: [PATCH] mir_debug_urdf.launch: Fix GUI display

---
 mir_description/launch/mir_debug_urdf.launch | 5 ++---
 mir_description/package.xml                  | 1 +
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/mir_description/launch/mir_debug_urdf.launch b/mir_description/launch/mir_debug_urdf.launch
index 18814186..f4855005 100644
--- 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
index 3cb55dc5..cda09bb7 100644
--- 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>