enabled using use_sim_time on joint_state_publisher

linorobot · Dec 31, 2023 · 63fe5ae · 63fe5ae
1 parent 5246348
commit 63fe5ae
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/linorobot2_description/launch/description.launch.py b/linorobot2_description/launch/description.launch.py
@@ -61,10 +61,10 @@ def generate_launch_description():
             package='joint_state_publisher',
             executable='joint_state_publisher',
             name='joint_state_publisher',
-            condition=IfCondition(LaunchConfiguration("publish_joints"))
-            # parameters=[
-            #     {'use_sim_time': LaunchConfiguration('use_sim_time')}
-            # ] #since galactic use_sim_time gets passed somewhere and rejects this when defined from launch file
+            condition=IfCondition(LaunchConfiguration("publish_joints")),
+            parameters=[
+                {'use_sim_time': LaunchConfiguration('use_sim_time')}
+            ]
         ),
 
         Node(