Make rviz use sim time with TB3 demo

nav2_bringup/launch/rviz_launch.py

@@ -34,6 +34,7 @@ def generate_launch_description():
  namespace = LaunchConfiguration('namespace')
  use_namespace = LaunchConfiguration('use_namespace')
  rviz_config_file = LaunchConfiguration('rviz_config')
+ use_sim_time = LaunchConfiguration('use_sim_time')
 
  # Declare the launch arguments
  declare_namespace_cmd = DeclareLaunchArgument(
@@ -57,13 +58,19 @@ def generate_launch_description():
  description='Full path to the RVIZ config file to use',
  )
 
+ declare_use_sim_time_cmd = DeclareLaunchArgument(
+ 'use_sim_time',
+ default_value='false',
+ description='Use simulation (Gazebo) clock if true')
+
  # Launch rviz
  start_rviz_cmd = Node(
  condition=UnlessCondition(use_namespace),
  package='rviz2',
  executable='rviz2',
  arguments=['-d', rviz_config_file],
  output='screen',
+ parameters=[{'use_sim_time': use_sim_time}],
  )
 
  namespaced_rviz_config_file = ReplaceString(
@@ -77,6 +84,7 @@ def generate_launch_description():
  executable='rviz2',
  namespace=namespace,
  arguments=['-d', namespaced_rviz_config_file],
+ parameters=[{'use_sim_time': use_sim_time}],
  output='screen',
  remappings=[
  ('/map', 'map'),
@@ -111,6 +119,7 @@ def generate_launch_description():
  ld.add_action(declare_namespace_cmd)
  ld.add_action(declare_use_namespace_cmd)
  ld.add_action(declare_rviz_config_file_cmd)
+ ld.add_action(declare_use_sim_time_cmd)
 
  # Add any conditioned actions
  ld.add_action(start_rviz_cmd)

nav2_bringup/launch/tb3_simulation_launch.py

@@ -242,6 +242,7 @@ def generate_launch_description():
  launch_arguments={
  'namespace': namespace,
  'use_namespace': use_namespace,
+ 'use_sim_time': use_sim_time,
  'rviz_config': rviz_config_file,
  }.items(),
  )