From f228894304e45afa59c5df1a51baf34d179c8734 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20=C3=89corchard?= Date: Thu, 22 Jan 2026 07:19:16 +0100 Subject: [PATCH] Allow disabling robot_state_publisher MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The launch argument is `description.enable`, defaulting to true for backward compatibility. Signed-off-by: Gaël Écorchard --- depthai_ros_driver/launch/camera.launch.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/depthai_ros_driver/launch/camera.launch.py b/depthai_ros_driver/launch/camera.launch.py index 740c81e2..a75ad2f2 100644 --- a/depthai_ros_driver/launch/camera.launch.py +++ b/depthai_ros_driver/launch/camera.launch.py @@ -64,6 +64,7 @@ def launch_setup(context, *args, **kwargs): params_file = ParameterFile(LaunchConfiguration("params_file"), allow_substs=True) camera_model = LaunchConfiguration("camera_model", default="OAK-D") rs_compat = LaunchConfiguration("rs_compat", default="false") + description_enable = LaunchConfiguration("description.enable", default="true") pointcloud_enable = LaunchConfiguration("pointcloud.enable", default="false") rectify_rgb = LaunchConfiguration("rectify_rgb", default="true") namespace = LaunchConfiguration("namespace", default="").perform(context) @@ -184,6 +185,7 @@ def launch_setup(context, *args, **kwargs): PythonLaunchDescriptionSource( os.path.join(urdf_launch_dir, "urdf_launch.py") ), + condition=IfCondition(description_enable), launch_arguments={ "namespace": namespace, "tf_prefix": name, @@ -326,6 +328,11 @@ def generate_launch_description(): default_value="false", description="Enables compatibility with RealSense nodes.", ), + DeclareLaunchArgument( + "description.enable", + default_value="true", + description="Enables the URDF description launch.", + ), DeclareLaunchArgument("rectify_rgb", default_value="true"), DeclareLaunchArgument("pointcloud.enable", default_value="false"), DeclareLaunchArgument("enable_color", default_value="true"),