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Add possibility to set use_sim_time as launch argument. #3585

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Add possibility to set use_sim_time as launch argument. #3585

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5 changes: 4 additions & 1 deletion moveit_configs_utils/moveit_configs_utils/launches.py
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,8 @@ def generate_move_group_launch(moveit_config):
# default to false, because almost nothing in move_group relies on this information
ld.add_action(DeclareBooleanLaunchArg("monitor_dynamics", default_value=False))

ld.add_action(DeclareBooleanLaunchArg("use_sim_time", default_value=False))

should_publish = LaunchConfiguration("publish_monitored_planning_scene")

move_group_configuration = {
Expand All @@ -233,7 +235,8 @@ def generate_move_group_launch(moveit_config):
"publish_geometry_updates": should_publish,
"publish_state_updates": should_publish,
"publish_transforms_updates": should_publish,
"monitor_dynamics": False,
"monitor_dynamics": LaunchConfiguration("monitor_dynamics"),
"use_sim_time": LaunchConfiguration("use_sim_time")
}

move_group_params = [
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