From 119d702caebdf19cd3485b86ec35f71479ca8ee0 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Thu, 4 Sep 2025 13:38:18 +0200 Subject: [PATCH] Launch arguments support bool instead of string types only The priorliy used string comparison would not work when passing proper bool types when including the launch file. This fix allows using both string and bool values. --- ur_robot_driver/launch/ur_control.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py index 528da2ee7..5a570fd43 100644 --- a/ur_robot_driver/launch/ur_control.launch.py +++ b/ur_robot_driver/launch/ur_control.launch.py @@ -192,11 +192,11 @@ def controller_spawner(controllers, active=True): "freedrive_mode_controller", "tool_contact_controller", ] - if activate_joint_controller.perform(context) == "true": + if activate_joint_controller.perform(context): controllers_active.append(initial_joint_controller.perform(context)) controllers_inactive.remove(initial_joint_controller.perform(context)) - if use_mock_hardware.perform(context) == "true": + if use_mock_hardware.perform(context): controllers_active.remove("tcp_pose_broadcaster") controller_spawners = [