From 939c5dba682043ed59e559ca96633514a8e73d2a Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Thu, 18 Nov 2021 15:40:32 +0100
Subject: [PATCH] Add simulation argument to the launch file

---
 launch/{simulation.launch => env.launch} | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)
 rename launch/{simulation.launch => env.launch} (51%)

diff --git a/launch/simulation.launch b/launch/env.launch
similarity index 51%
rename from launch/simulation.launch
rename to launch/env.launch
index 25e09f0..eafc41b 100644
--- a/launch/simulation.launch
+++ b/launch/env.launch
@@ -1,21 +1,23 @@
 <?xml version="1.0" ?>
 <launch>
-  <arg name="rviz" default="false" />
+  <arg name="launch_rviz" default="false" />
+  <arg name="simulation" default="true" />
 
   <!-- Load parameters -->
   <rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
 
-  <!-- Launch simulated robot -->
+  <!-- Load robot description -->
   <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
-  <node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
+
+  <group if="$(arg simulation)">
+    <node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
+  </group>
 
   <!-- Launch MoveIt -->
   <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
-  <include file="$(find panda_moveit_config)/launch/move_group.launch">
-    <arg name="pipeline" value="ompl"/>
-  </include>
+  <include file="$(find panda_moveit_config)/launch/move_group.launch" />
 
   <!-- Launch rviz -->
-  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" />
+  <node if="$(arg launch_rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" />
 </launch>