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

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Merged
merged 3 commits into from
Jan 14, 2025
Merged

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

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701d483
Disable pose broadcaster on mock hardware (#1229)
URJala Jan 13, 2025
e22750f
Update ur_control.launch.py
urfeex Jan 13, 2025
9df05fe
use_mock_hardware -> use_fake_hardware
urfeex Jan 14, 2025
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8 changes: 6 additions & 2 deletions ur_robot_driver/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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_mock_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 = [
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