use_sim_timeを切り替えられるように修正

YusukeKato · YusukeKato · commit 9f631a43e730 · 2026-07-08T11:11:22.000+09:00
diff --git a/sciurus17_examples/launch/demo.launch.py b/sciurus17_examples/launch/demo.launch.py
@@ -31,6 +31,12 @@ def generate_launch_description():
         'use_chest_camera', default_value='true', description='Use chest camera.'
     )
 
+    declare_use_sim_time = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description=('Set true when using the simulator.'),
+    )
+
     move_group = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [
@@ -65,7 +71,7 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
-            SetParameter(name='use_sim_time', value=True),
+            SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
             declare_use_head_camera,
             declare_use_chest_camera,
             move_group,

Original file line number	Diff line number	Diff line change
`@@ -31,6 +31,12 @@ def generate_launch_description():`
`31`	`31`	`'use_chest_camera', default_value='true', description='Use chest camera.'`
`32`	`32`	`)`
`33`	`33`
	`34`	`+ declare_use_sim_time = DeclareLaunchArgument(`
	`35`	`+ 'use_sim_time',`
	`36`	`+ default_value='false',`
	`37`	`+ description=('Set true when using the simulator.'),`
	`38`	`+ )`
	`39`	`+`
`34`	`40`	`move_group = IncludeLaunchDescription(`
`35`	`41`	`PythonLaunchDescriptionSource(`
`36`	`42`	`[`
`@@ -65,7 +71,7 @@ def generate_launch_description():`
`65`	`71`
`66`	`72`	`return LaunchDescription(`
`67`	`73`	`[`
`68`		`- SetParameter(name='use_sim_time', value=True),`
	`74`	`+ SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),`
`69`	`75`	`declare_use_head_camera,`
`70`	`76`	`declare_use_chest_camera,`
`71`	`77`	`move_group,`