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Add options to the files for rosbag and add dependency #16

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merged 3 commits into from
Apr 20, 2021
Merged

Add options to the files for rosbag and add dependency #16

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f66ac56
rename rosbag launch files
mqcmd196 Apr 20, 2021
3453a41
add duration, start etc...
mqcmd196 Apr 20, 2021
9ed80e6
add xterm to exec_depend for using rosbag play
mqcmd196 Apr 20, 2021
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13 changes: 10 additions & 3 deletions ...robot/jsk_spot_startup/launch/play.launch → ...sk_spot_startup/launch/rosbag_play.launch
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Original file line number Diff line number Diff line change
@@ -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" />
Expand All @@ -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
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0 ...bot/jsk_spot_startup/launch/record.launch → ..._spot_startup/launch/rosbag_record.launch
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1 change: 1 addition & 0 deletions jsk_spot_robot/jsk_spot_startup/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

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