From 73e09f8e1bd91c0936efd5e09f39d3a4c0a7769f Mon Sep 17 00:00:00 2001
From: Isaac IY Saito <130s@lateeye.net>
Date: Wed, 28 Oct 2015 05:28:37 -0700
Subject: [PATCH] Disable EKF that's not necessary (unless robot moves)

---
 hironx_ros_bridge/launch/hironx_ros_bridge.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/hironx_ros_bridge/launch/hironx_ros_bridge.launch b/hironx_ros_bridge/launch/hironx_ros_bridge.launch
index 798d7706..eb8a498e 100644
--- a/hironx_ros_bridge/launch/hironx_ros_bridge.launch
+++ b/hironx_ros_bridge/launch/hironx_ros_bridge.launch
@@ -14,12 +14,14 @@
   <arg name="USE_ROBOTHARDWARE" default="false" />
   <arg name="USE_IMPEDANCECONTROLLER" default="false"/>
   <arg name="USE_SERVOCONTROLLER" default="false" />
+  <arg name="USE_ROBOT_POSE_EKF" default="false" />
 
   <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch">
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <arg name="nameserver" value="$(arg nameserver)" />
     <arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
     <arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
+    <arg name="USE_ROBOT_POSE_EKF" value="(arg USE_ROBOT_POSE_EKF)" />
 
     <arg name="USE_WALKING" value="false" />
     <arg name="BASE_LINK" value="WAIST"/>