From f7da3449c50431ad55428936fd9fb07b2ab587f0 Mon Sep 17 00:00:00 2001
From: MasakiMurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 7 Aug 2016 15:57:25 +0900
Subject: [PATCH] [jsk_data/launch/hrp2_play.launch] use urdf model with hand
 for robot_description when playing with hrp2.

---
 jsk_data/launch/hrp2_play.launch | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/jsk_data/launch/hrp2_play.launch b/jsk_data/launch/hrp2_play.launch
index 4103e54e0..85490a0a3 100644
--- a/jsk_data/launch/hrp2_play.launch
+++ b/jsk_data/launch/hrp2_play.launch
@@ -4,6 +4,7 @@
   <arg name="launch_openni" default="false"/>
   <arg name="launch_multisense" default="true" />
   <arg name="launch_robot_model" default="true"/>
+  <arg name="use_collada_model" default="false"/>
   <arg name="use_gui" default="false"/>
   <arg name="rosbag_option" default="--clock -l" />
   <arg name="use_xterm" default="false" />
@@ -11,7 +12,10 @@
   
   <!-- set params for rviz -->
   <param name="use_sim_time" value="true" />
-  <param if="$(arg launch_robot_model)" name="robot_description" textfile="$(find hrpsys_ros_bridge_tutorials)/models/$(arg ROBOT).dae" />
+  <group if="$(arg launch_robot_model)" >
+    <param name="robot_description" textfile="$(find hrpsys_ros_bridge_tutorials)/models/$(arg ROBOT).dae" if="$(arg use_collada_model)"  />
+    <param name="robot_description" textfile="$(find hrpsys_ros_bridge_tutorials)/models/$(arg ROBOT)_WH_SENSORS.urdf" unless="$(arg use_collada_model)" />
+  </group>
 
   <!-- setup openni_launch -->
   <include if="$(arg launch_openni)" file="$(find jsk_pcl_ros)/launch/openni2_remote.launch">