Merge branch 'ros-2-complete' of github.com:purdue-arc/rocket_league …

…into ros-2-complete
purdue-arc · Mar 2, 2024 · 137f460 · 137f460
2 parents 87a8e0d + 79c1d72
commit 137f460
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/src/rktl_launch/launch/rocket_league_sim.launch.py b/src/rktl_launch/launch/rocket_league_sim.launch.py
@@ -54,10 +54,10 @@ def generate_launch_description():
                         os.path.join(get_package_share_directory(
                         'rktl_sim'), 'launch', 'visualizer.launch.py')
                     ),
-                    condition=launch.conditions.LaunchConfigurationEquals('render', 'true')
+                    condition=IfCondition(EqualsSubstitution(LaunchConfiguration('render'), 'realistic'))
                 ),
             ],
-            condition=launch.conditions.LaunchConfigurationEquals('sim_mode', 'realistic')
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sim_mode'), 'realistic'))
         ),
         launch_ros.actions.SetParametersFromFile(
             filename=os.path.join(get_package_share_directory(
@@ -68,22 +68,22 @@ def generate_launch_description():
             package='rktl_control',
             executable='topic_delay',
             name='pose_delay',
-            condition=launch.conditions.LaunchConfigurationEquals('sim_mode', 'realistic'),
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sim_mode'), 'realistic')),
             arguments=["pose_sync_early", "pose_sync", "geometry_msgs/PoseWithCovarianceStamped", launch.substitutions.LaunchConfiguration('perception_delay')]
         ),
         launch_ros.actions.Node(
             namespace='cars/car0',
             package='rktl_control',
             executable='topic_delay',
             name='pose_delay',
-            condition=launch.conditions.LaunchConfigurationEquals('sim_mode', 'realistic'),
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sim_mode'), 'realistic')),
             arguments=["pose_sync_early", "pose_sync", "geometry_msgs/PoseWithCovarianceStamped", launch.substitutions.LaunchConfiguration('perception_delay')]
         ),
         launch_ros.actions.Node(
             package='rqt_gui',
             executable='rqt_gui',
             name='rqt_gui',
-            condition=launch.conditions.LaunchConfigurationEquals('render', 'true'),
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('render'), 'true')),
             arguments=['--perspective-file', os.path.join(get_package_share_directory(
                     'rktl_launch'), 'rqt','rktl.perspective')]
         ),