[ros2] Conditional launch includes (#979)

* [ros2] Conditional launch includes Signed-off-by: Louise Poubel <louise@openrobotics.org> * remove unused import Signed-off-by: Louise Poubel <louise@openrobotics.org>
ros-simulation · Oct 3, 2019 · 0f4818c · 0f4818c
1 parent 2c95baa
commit 0f4818c
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/gazebo_ros/launch/gazebo.launch.py b/gazebo_ros/launch/gazebo.launch.py
@@ -15,21 +15,30 @@
 """Launch Gazebo server and client with command line arguments."""
 
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 from launch.substitutions import ThisLaunchFileDir
 
 
 def generate_launch_description():
 
-    # (TODO) Allow conditional include of gzserver and gzclient, once supported
-    # https://github.com/ros2/launch/issues/303
     return LaunchDescription([
+        DeclareLaunchArgument('gui', default_value='true',
+                              description='Set to "false" to run headless.'),
+
+        DeclareLaunchArgument('server', default_value='true',
+                              description='Set to "false" not to run gzserver.'),
+
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/gzserver.launch.py']),
+            condition=IfCondition(LaunchConfiguration('server'))
         ),
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/gzclient.launch.py']),
+            condition=IfCondition(LaunchConfiguration('gui'))
         ),
     ])
diff --git a/gazebo_ros/package.xml b/gazebo_ros/package.xml
@@ -30,6 +30,8 @@
   <depend>std_srvs</depend>
   <depend>tinyxml_vendor</depend>
 
+  <exec_depend>launch_ros</exec_depend>
+
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>