diff --git a/march_simulation/launch/march_world.launch b/march_simulation/launch/march_world.launch index c51ef7a..97e9bd8 100644 --- a/march_simulation/launch/march_world.launch +++ b/march_simulation/launch/march_world.launch @@ -7,6 +7,7 @@ <arg name="ground_gait" default="false" doc="Exoskeleton will ground gait if true."/> <arg name="obstacle" default="none" doc="Obstacle to load in the simulation."/> <arg name="robot" default="march4" doc="The robot to run. Can be: march3, march4, test_joint_rotational."/> + <arg name="balance" default="false" doc="Uses the dynamic balance gaits instead of the predefined gaits."/> <!-- Load the URDF into the ROS Parameter Server --> <!-- Override effort values as Gazebo uses different units than the actual IMC. --> @@ -41,7 +42,7 @@ <arg name="world_name" value="$(find march_simulation)/worlds/march.world"/> <arg name="debug" value="$(arg debug)" /> <arg name="gui" value="$(arg gazebo_ui)" /> - <arg name="paused" value="true"/> + <arg name="paused" value="$(eval not balance)"/> <arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="verbose" value="true" /> </include>