Allow disabling robot_state_publisher - #771
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The launch argument is `description.enable`, defaulting to true for backward compatibility. Signed-off-by: Gaël Écorchard <gael@km-robotics.cz>
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Pull request overview
Adds a new launch argument to optionally skip launching the URDF/robot_state_publisher portion of the camera bringup, preserving existing behavior by default.
Changes:
- Introduce
description.enablelaunch argument (default"true"). - Gate the URDF include (
urdf_launch.py) behindIfCondition(description.enable).
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The launch argument is
description.enable, defaulting to true for backward compatibility.Overview
Author: Gaël Écorchard
Issue
Issue link (if present):
Issue description:
Related PRs
Changes
ROS distro: humble
Add the
description.enablelaunch argument tocamera.launch.py.Testing
Hardware used: irrelevant
Depthai library version: irrelevant
Visuals from testing
Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.
RViz will not show the robot model because it is not published.