From dd5840559efc6efb409d72e47fdcbb84e72e027f Mon Sep 17 00:00:00 2001
From: Alex Mitrevski <aleksandar.mitrevski@h-brs.de>
Date: Sun, 25 Oct 2020 16:10:09 +0100
Subject: [PATCH] [listen_action] Use launch file args in the action server
 launcher

Related to https://github.com/b-it-bots/mas_domestic_robotics/issues/241
---
 .../mdr_listen_action/ros/launch/listen.launch             | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/mdr_planning/mdr_actions/mdr_speech_actions/mdr_listen_action/ros/launch/listen.launch b/mdr_planning/mdr_actions/mdr_speech_actions/mdr_listen_action/ros/launch/listen.launch
index 2db7be591..0821d0237 100644
--- a/mdr_planning/mdr_actions/mdr_speech_actions/mdr_listen_action/ros/launch/listen.launch
+++ b/mdr_planning/mdr_actions/mdr_speech_actions/mdr_listen_action/ros/launch/listen.launch
@@ -1,7 +1,10 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="model_directory" type="str" default="$(find kaldi_speech_models)/common/config/en-US" />
+    <arg name="use_kaldi" default="true"/>
+
     <node pkg="mdr_listen_action" type="listen" name="listen_server" output="screen" >
-        <param name="model_directory" type="str" value="$(find kaldi_speech_models)/common/config/en-US" />
-        <param name="use_kaldi"       value="true"/>
+        <param name="model_directory" type="str" value="$(arg model_directory)" />
+        <param name="use_kaldi" value="$(arg use_kaldi)"/>
     </node>
 </launch>