[jsk_spot_startup] Add options to the files for rosbag and add depend…

…ency (#16)

* rename rosbag launch files

* add duration, start etc...

* add xterm to exec_depend for using rosbag play

jsk_spot_robot/jsk_spot_startup/launch/play.launch → jsk_spot_robot/jsk_spot_startup/launch/rosbag_play.launch

@@ -1,11 +1,18 @@
 <launch>
     <arg name="rosbag" doc="rosbag file path" />
     <arg name="use_decompress" default="true" />
-    <arg name="use_rviz" default="true" />
+    <arg name="loop" default="true" />
+    <arg name="gui" default="true" />
+    <arg name="loop_flag" value="--loop" if="$(arg loop)" />
+    <arg name="loop_flag" value="" unless="$(arg loop)" />
+    <arg name="start_time" default="0" />
+    <arg name="duration_time" default="0" />
+    <arg name="duration" default="--duration $(arg duration_time)" if="$(eval duration_time != 0)" />
+    <arg name="duration" default="" if="$(eval duration_time == 0)" />
 
     <include
         file="$(find jsk_spot_startup)/launch/rviz.launch"
-        if="$(arg use_rviz)"
+        if="$(arg gui)"
         />
 
     <param name="/use_sim_time" value="true" />
@@ -24,7 +31,7 @@
         pkg="rosbag"
         type="play"
         name="$(anon rosbag)"
-        args="$(arg rosbag) --clock"
+        args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration)"
         launch-prefix="xterm -e"
         />
     <node

jsk_spot_robot/jsk_spot_startup/package.xml

@@ -21,6 +21,7 @@
   <exec_depend>spot_driver</exec_depend>
   <exec_depend>respeaker_ros</exec_depend>
   <exec_depend>cmd_vel_smoother</exec_depend>
+  <exec_depend>xterm</exec_depend>
 
   <test_depend>rostest</test_depend>