From 9490137709f0f7526a4551c51ab823144300c1cd Mon Sep 17 00:00:00 2001
From: Felix Maisonneuve <fmaisonneuve@kinova.ca>
Date: Wed, 1 Feb 2023 09:28:35 -0500
Subject: [PATCH] add respawn option to the main launch file

---
 kinova_bringup/launch/kinova_robot.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/kinova_bringup/launch/kinova_robot.launch b/kinova_bringup/launch/kinova_robot.launch
index 07ff81a97..f7634af84 100644
--- a/kinova_bringup/launch/kinova_robot.launch
+++ b/kinova_bringup/launch/kinova_robot.launch
@@ -6,11 +6,12 @@
 	<arg name="kinova_robotSerial" default="not_set" />
 	<arg name="use_jaco_v1_fingers" default="false" />
 	<arg name="feedback_publish_rate" default="0.1" />
+	<arg name="respawn_driver" default="false" />
 
   <!-- If the node handles multiple robots uncomment this and configure /config/multiple_robots.yaml" -->
 	<rosparam file="$(find kinova_bringup)/launch/config/multiple_robots.yaml" command="load" />
 
-  <node name="$(arg kinova_robotName)_driver" pkg="kinova_driver" type="kinova_arm_driver" output="screen" cwd="node" args="$(arg kinova_robotType)">
+  <node name="$(arg kinova_robotName)_driver" pkg="kinova_driver" type="kinova_arm_driver" output="screen" cwd="node" args="$(arg kinova_robotType)" respawn="$(arg respawn_driver)">
     <rosparam file="$(find kinova_bringup)/launch/config/robot_parameters.yaml" command="load" />
     <param name="serial_number" value="$(arg kinova_robotSerial)" />   
     <param name="robot_name" value="$(arg kinova_robotName)" />