diff --git a/examples/dave_demos/launch/dave_object.launch.py b/examples/dave_demos/launch/dave_object.launch.py index 5568d595..f85023fa 100755 --- a/examples/dave_demos/launch/dave_object.launch.py +++ b/examples/dave_demos/launch/dave_object.launch.py @@ -2,7 +2,6 @@ from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.conditions import IfCondition from launch_ros.substitutions import FindPackageShare @@ -33,7 +32,10 @@ def launch_setup(context, *args, **kwargs): else: gz_args = [world_name] - if headless.perform(context) == "true": + run_server_only = ( + headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false" + ) + if run_server_only: gz_args.append(" -s") if paused.perform(context) == "false": gz_args.append(" -r") @@ -56,7 +58,6 @@ def launch_setup(context, *args, **kwargs): launch_arguments=[ ("gz_args", gz_args), ], - condition=IfCondition(gui), ) object_launch = IncludeLaunchDescription( @@ -99,7 +100,7 @@ def generate_launch_description(): DeclareLaunchArgument( "gui", default_value="true", - description="Flag to enable the gazebo gui", + description="Show the Gazebo graphical client; false runs server-only", ), DeclareLaunchArgument( "use_sim_time", @@ -114,7 +115,7 @@ def generate_launch_description(): DeclareLaunchArgument( "headless", default_value="false", - description="Flag to enable the gazebo headless mode", + description="Run Gazebo server-only without the graphical client", ), DeclareLaunchArgument( "verbose", diff --git a/examples/dave_demos/launch/dave_robot.launch.py b/examples/dave_demos/launch/dave_robot.launch.py index 87004716..a5064161 100644 --- a/examples/dave_demos/launch/dave_robot.launch.py +++ b/examples/dave_demos/launch/dave_robot.launch.py @@ -4,7 +4,6 @@ IncludeLaunchDescription, OpaqueFunction, ) -from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.substitutions import FindPackageShare @@ -48,7 +47,10 @@ def launch_setup(context, *args, **kwargs): zoom_camera_value = "true" if selected_world_name == "dave_ocean_waves" else "false" - if headless.perform(context) == "true": + run_server_only = ( + headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false" + ) + if run_server_only: gz_args.append(" -s") if paused.perform(context) == "false": gz_args.append(" -r") @@ -72,7 +74,6 @@ def launch_setup(context, *args, **kwargs): launch_arguments=[ ("gz_args", gz_args), ], - condition=IfCondition(gui), ) # Include the second launch file with model name @@ -129,7 +130,7 @@ def generate_launch_description(): DeclareLaunchArgument( "gui", default_value="true", - description="Flag to enable the gazebo gui", + description="Show the Gazebo graphical client; false runs server-only", ), DeclareLaunchArgument( "use_sim_time", @@ -144,7 +145,7 @@ def generate_launch_description(): DeclareLaunchArgument( "headless", default_value="false", - description="Flag to enable the gazebo headless mode", + description="Run Gazebo server-only without the graphical client", ), DeclareLaunchArgument( "verbose", diff --git a/examples/dave_demos/launch/dave_sensor.launch.py b/examples/dave_demos/launch/dave_sensor.launch.py index e8b71047..98104a4c 100644 --- a/examples/dave_demos/launch/dave_sensor.launch.py +++ b/examples/dave_demos/launch/dave_sensor.launch.py @@ -2,7 +2,6 @@ from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.conditions import IfCondition from launch_ros.substitutions import FindPackageShare @@ -33,7 +32,10 @@ def launch_setup(context, *args, **kwargs): else: gz_args = [world_name] - if headless.perform(context) == "true": + run_server_only = ( + headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false" + ) + if run_server_only: gz_args.append(" -s") if paused.perform(context) == "false": gz_args.append(" -r") @@ -55,7 +57,6 @@ def launch_setup(context, *args, **kwargs): launch_arguments=[ ("gz_args", gz_args), ], - condition=IfCondition(gui), ) sensor_launch = IncludeLaunchDescription( @@ -98,7 +99,7 @@ def generate_launch_description(): DeclareLaunchArgument( "gui", default_value="true", - description="Flag to enable the gazebo gui", + description="Show the Gazebo graphical client; false runs server-only", ), DeclareLaunchArgument( "use_sim_time", @@ -113,7 +114,7 @@ def generate_launch_description(): DeclareLaunchArgument( "headless", default_value="false", - description="Flag to enable the gazebo headless mode", + description="Run Gazebo server-only without the graphical client", ), DeclareLaunchArgument( "verbosity_level", diff --git a/models/dave_object_models/launch/upload_object.launch.py b/models/dave_object_models/launch/upload_object.launch.py index 9d9e7b59..bbb299fd 100755 --- a/models/dave_object_models/launch/upload_object.launch.py +++ b/models/dave_object_models/launch/upload_object.launch.py @@ -26,7 +26,6 @@ def validate_description(context, *args, **kwargs): def generate_launch_description(): - gui = LaunchConfiguration("gui") use_sim_time = LaunchConfiguration("use_sim_time") namespace = LaunchConfiguration("namespace") x = LaunchConfiguration("x") @@ -140,7 +139,6 @@ def generate_launch_description(): yaw, ], output="both", - condition=IfCondition(gui), parameters=[{"use_sim_time": use_sim_time}], ) @@ -152,9 +150,6 @@ def generate_launch_description(): ) ] - validate_object_description = OpaqueFunction( - function=validate_description, - condition=IfCondition(gui), - ) + validate_object_description = OpaqueFunction(function=validate_description) return LaunchDescription(args + [validate_object_description] + nodes + event_handlers) diff --git a/models/dave_sensor_models/launch/upload_sensor.launch.py b/models/dave_sensor_models/launch/upload_sensor.launch.py index 1e49d1d6..ee56139e 100755 --- a/models/dave_sensor_models/launch/upload_sensor.launch.py +++ b/models/dave_sensor_models/launch/upload_sensor.launch.py @@ -38,7 +38,6 @@ def launch_setup(context, *args, **kwargs): def generate_launch_description(): - gui = LaunchConfiguration("gui") use_sim_time = LaunchConfiguration("use_sim_time") namespace = LaunchConfiguration("namespace") x = LaunchConfiguration("x") @@ -152,7 +151,6 @@ def generate_launch_description(): yaw, ], output="both", - condition=IfCondition(gui), parameters=[{"use_sim_time": use_sim_time}], )