dynamically update use_sim_time, depending on backend

Fixes IMRCLab#438
UD-IDS-LAB · Feb 24, 2024 · 4bbe8ce · 4bbe8ce
1 parent 261f3e8
commit 4bbe8ce
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py
@@ -134,7 +134,7 @@ def generate_launch_description():
  name='rviz2',
  arguments=['-d' + os.path.join(get_package_share_directory('crazyflie'), 'config', 'config.rviz')],
  parameters=[{
- "use_sim_time": True,
+ "use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]),
  }]
  ),
  Node(
@@ -143,5 +143,8 @@ def generate_launch_description():
  namespace='',
  executable='gui.py',
  name='gui',
+ parameters=[{
+ "use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]),
+ }]
  ),
  ])