use keepout for jsk_maps

jsk-ros-pkg · Jul 7, 2020 · 7dd9e16 · 7dd9e16
1 parent 2faaee9
commit 7dd9e16
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -7,6 +7,7 @@
   <arg name="map_frame" default="eng2" />
   <arg name="map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05.yaml"/>
   <arg name="keepout_map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05_keepout.yaml" />
+  <arg name="use_keepout" default="true" />
   <arg name="use_build_map" default="false" />
 
   <param name="robot/type" value="fetch" />
@@ -138,6 +139,7 @@
     <!-- jsk_maps -->
     <include file="$(find jsk_maps)/launch/start_map_$(arg map_frame).launch">
       <arg name="launch_map_server" value="true" />
+      <arg name="keepout" value="$(arg use_keepout)" />
     </include>
 
     <!-- dock localization -->
@@ -147,7 +149,7 @@
     <include file="$(find fetch_navigation)/launch/fetch_nav.launch" unless="$(arg use_build_map)" >
       <arg name="map_file" value="$(arg map_file)" />
       <arg name="map_keepout_file" value="$(arg keepout_map_file)" />
-      <arg name="use_keepout" value="false" />
+      <arg name="use_keepout" value="$(arg use_keepout)" />
       <arg name="use_map_topic" value="true" />
       <arg name="launch_map_server" value="false" />
       <arg name="odom_topic" value="/odom_combined" />