From ce666575739417f9bc2243629fa159d1743adc01 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <27789460+mqcmd196@users.noreply.github.com>
Date: Tue, 20 Apr 2021 17:26:17 +0900
Subject: [PATCH] [jsk_spot_startup] Add options to the files for rosbag and
 add dependency (#16)

* rename rosbag launch files

* add duration, start etc...

* add xterm to exec_depend for using rosbag play
---
 .../launch/{play.launch => rosbag_play.launch}      | 13 ++++++++++---
 .../launch/{record.launch => rosbag_record.launch}  |  0
 jsk_spot_robot/jsk_spot_startup/package.xml         |  1 +
 3 files changed, 11 insertions(+), 3 deletions(-)
 rename jsk_spot_robot/jsk_spot_startup/launch/{play.launch => rosbag_play.launch} (87%)
 rename jsk_spot_robot/jsk_spot_startup/launch/{record.launch => rosbag_record.launch} (100%)

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/play.launch b/jsk_spot_robot/jsk_spot_startup/launch/rosbag_play.launch
similarity index 87%
rename from jsk_spot_robot/jsk_spot_startup/launch/play.launch
rename to jsk_spot_robot/jsk_spot_startup/launch/rosbag_play.launch
index 302ada90c7a..83fe1fa3bba 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/play.launch
+++ b/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
diff --git a/jsk_spot_robot/jsk_spot_startup/launch/record.launch b/jsk_spot_robot/jsk_spot_startup/launch/rosbag_record.launch
similarity index 100%
rename from jsk_spot_robot/jsk_spot_startup/launch/record.launch
rename to jsk_spot_robot/jsk_spot_startup/launch/rosbag_record.launch
diff --git a/jsk_spot_robot/jsk_spot_startup/package.xml b/jsk_spot_robot/jsk_spot_startup/package.xml
index 309df2e161c..7effcb44aef 100644
--- a/jsk_spot_robot/jsk_spot_startup/package.xml
+++ b/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>