Fix: perception: No octomap shown on RViz (along with moveit/moveit_r…

…esources@e116be8)
moveit · Jun 28, 2023 · 4c6f5e7 · 4c6f5e7
1 parent 3cb4d7a
commit 4c6f5e7
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
@@ -11,15 +11,15 @@
        default="0.5" />
 
   <!-- Play the rosbag that contains the pointcloud data -->
-  <executable cmd="ros2 bag play -l $(var bagfile)" output="screen" />
+  <executable cmd="ros2 bag play -l --clock 10.0 $(var bagfile)" output="screen" />
 
   <include file="$(var launchfile_panda)">
-    <arg name="shape_transform_cache_lookup_wait_time"
-         value="$(var shape_transform_cache_lookup_wait_time)" />
+    <arg name="shape_transform_cache_lookup_wait_time" value="$(var shape_transform_cache_lookup_wait_time)" />
+    <arg name="rviz_tutorial" value="false" />
   </include>
 
   <!-- If needed, broadcast static tf for robot root -->
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
   <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.00 -.40 0.60 0.19 0.07 -1.91 world camera_rgb_optical_frame" />
 
 </launch>