Disable pose broadcaster on mock hardware (backport of #1229) (#1230)

As mock hardware doesn't send the same pose information as the real robot does, it does make sense to not start it in mock hardware.

Co-authored-by: URJala <[email protected]>
Co-authored-by: Felix Exner <[email protected]>

Author: 3 people

ur_robot_driver/launch/ur_control.launch.py

@@ -355,8 +355,12 @@ def controller_spawner(controllers, active=True):
         controllers_active.append(initial_joint_controller.perform(context))
         controllers_inactive.remove(initial_joint_controller.perform(context))
 
-    controller_spawners = [controller_spawner(controllers_active)] + [
-        controller_spawner(controllers_inactive, active=False)
+    if use_fake_hardware.perform(context) == "true":
+        controllers_active.remove("tcp_pose_broadcaster")
+
+    controller_spawners = [
+        controller_spawner(controllers_active),
+        controller_spawner(controllers_inactive, active=False),
     ]
 
     nodes_to_start = [