Add an if-condition to RViz delay

fmauch · VinDp · commit 26d3d4f10ea2 · 2024-05-15T15:03:40.000+02:00
This prevents RViz from spawning twice if the moveit startup is used.
diff --git a/ur_simulation_gazebo/launch/ur_sim_control.launch.py b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
@@ -130,7 +130,8 @@ def launch_setup(context, *args, **kwargs):
         event_handler=OnProcessExit(
             target_action=joint_state_broadcaster_spawner,
             on_exit=[rviz_node],
-        )
+        ),
+        condition=IfCondition(launch_rviz),
     )
 
     # There may be other controllers of the joints, but this is the initially-started one

Original file line number	Diff line number	Diff line change
`@@ -130,7 +130,8 @@ def launch_setup(context, args, *kwargs):`
`130`	`130`	`event_handler=OnProcessExit(`
`131`	`131`	`target_action=joint_state_broadcaster_spawner,`
`132`	`132`	`on_exit=[rviz_node],`
`133`		`- )`
	`133`	`+ ),`
	`134`	`+ condition=IfCondition(launch_rviz),`
`134`	`135`	`)`
`135`	`136`
`136`	`137`	`# There may be other controllers of the joints, but this is the initially-started one`