From b6673993ea1502840d26a0220f199d38fd3cc4c1 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 12 May 2022 19:02:26 +0900
Subject: [PATCH] Enable to choose whether to start up diagnostics aggregator

---
 fetch_bringup/launch/fetch.launch     | 4 +++-
 freight_bringup/launch/freight.launch | 4 +++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/fetch_bringup/launch/fetch.launch b/fetch_bringup/launch/fetch.launch
index 542a3be..ecc118a 100644
--- a/fetch_bringup/launch/fetch.launch
+++ b/fetch_bringup/launch/fetch.launch
@@ -3,6 +3,7 @@
   <param name="robot/type" value="fetch" />
   <param name="robot/name" textfile="/etc/hostname" />
   <arg name="launch_teleop" default="true" />
+  <arg name="launch_diagnostics_agg" default="true" />
 
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
@@ -69,6 +70,7 @@
   </include>
 
   <!-- Diagnostics Aggregator -->
-  <include file="$(find fetch_bringup)/launch/include/aggregator.launch.xml" />
+  <include if="$(arg launch_diagnostics_agg)"
+           file="$(find fetch_bringup)/launch/include/aggregator.launch.xml" />
 
 </launch>
diff --git a/freight_bringup/launch/freight.launch b/freight_bringup/launch/freight.launch
index 9297c6e..426d684 100644
--- a/freight_bringup/launch/freight.launch
+++ b/freight_bringup/launch/freight.launch
@@ -3,6 +3,7 @@
   <param name="robot/type" value="freight" />
   <param name="robot/name" textfile="/etc/hostname" />
   <arg name="launch_teleop" default="true" />
+  <arg name="launch_diagnostics_agg" default="true" />
 
   <!-- Calibration -->
   <param name="calibration_date" value="uncalibrated"/>
@@ -43,6 +44,7 @@
   <include file="$(find fetch_open_auto_dock)/launch/auto_dock.launch" />
 
   <!-- Diagnostics Aggregator -->
-  <include file="$(find freight_bringup)/launch/include/aggregator.launch.xml" />
+  <include if="$(arg launch_diagnostics_agg)"
+           file="$(find freight_bringup)/launch/include/aggregator.launch.xml" />
 
 </launch>