[drc_task_common] Add VIEWER options to toggle using rviz or not. Def…

…ault behaviors are not changed.
wkentaro · Sep 7, 2016 · 38eaccf · 38eaccf
1 parent 7ef5b02
commit 38eaccf
Show file tree

Hide file tree

Showing 3 changed files with 29 additions and 17 deletions.
diff --git a/jsk_2015_06_hrp_drc/drc_task_common/launch/conservative_door_detection.launch b/jsk_2015_06_hrp_drc/drc_task_common/launch/conservative_door_detection.launch
@@ -4,10 +4,11 @@
   <arg name="RESOLUTION" default="0.01" />
   <arg name="SIMULATION" default="false" />
   <arg name="GLC_RECORD" default="false" />
-  <arg if="$(arg GLC_RECORD)"
-       name="glc_prefix" value="glc-capture -i --disable-audio" />
-  <arg unless="$(arg GLC_RECORD)"
-       name="glc_prefix" value="" />
+  <arg name="VIEWER" default="true" />
+
+  <include file="$(find drc_task_common)/launch/conservative_door_viewer.launch" if="$(arg VIEWER)" >
+    <arg name="GLC_RECORD" value="$(arg GLC_RECORD)" />
+  </include>
 
   <arg unless="$(arg SIMULATION)" name="USE_MULTITHREAD_CALLBACK" value="true" />
   <arg unless="$(arg SIMULATION)" name="NUM_OF_THREAD_OMP"    value="0" />
@@ -21,18 +22,6 @@
 
   <!-- Prepare pointcloud  -->
   <group ns="door_detection">
-  <node pkg="rviz" type="rviz" name="rviz_input"
-        launch-prefix="$(arg glc_prefix)"
-        args="-d $(find drc_task_common)/config/door/input.rviz"/>
-  <node pkg="rviz" type="rviz" name="rviz_recog" if="false"
-        launch-prefix="$(arg glc_prefix)"
-        args="-d $(find drc_task_common)/config/door/recog.rviz"/>
-  <node pkg="rviz" type="rviz" name="rviz_result"
-        launch-prefix="$(arg glc_prefix)"
-        args="-d $(find drc_task_common)/config/door/result.rviz"/>
-  <node pkg="rviz" type="rviz" name="rviz_downsample"  if="false"
-        launch-prefix="$(arg glc_prefix)"
-          args="-d $(find drc_task_common)/config/door/downsample.rviz"/>
     <node pkg="jsk_pcl_ros" type="octree_voxel_grid" name="octree_voxel_grid">
       <remap from="~input" to="$(arg INPUT_CLOUD)" />
       <rosparam subst_value="true">

diff --git a/jsk_2015_06_hrp_drc/drc_task_common/launch/conservative_door_viewer.launch b/jsk_2015_06_hrp_drc/drc_task_common/launch/conservative_door_viewer.launch
@@ -0,0 +1,21 @@
+<launch>
+  <arg name="GLC_RECORD" default="false" />
+  <arg if="$(arg GLC_RECORD)"
+       name="glc_prefix" value="glc-capture -i --disable-audio" />
+  <arg unless="$(arg GLC_RECORD)"
+       name="glc_prefix" value="" />
+  <group ns="door_detection">
+    <node pkg="rviz" type="rviz" name="rviz_input"
+          launch-prefix="$(arg glc_prefix)"
+          args="-d $(find drc_task_common)/config/door/input.rviz"/>
+    <node pkg="rviz" type="rviz" name="rviz_recog" if="false"
+          launch-prefix="$(arg glc_prefix)"
+          args="-d $(find drc_task_common)/config/door/recog.rviz"/>
+    <node pkg="rviz" type="rviz" name="rviz_result"
+          launch-prefix="$(arg glc_prefix)"
+          args="-d $(find drc_task_common)/config/door/result.rviz"/>
+    <node pkg="rviz" type="rviz" name="rviz_downsample"  if="false"
+          launch-prefix="$(arg glc_prefix)"
+          args="-d $(find drc_task_common)/config/door/downsample.rviz"/>
+  </group>
+</launch>
diff --git a/jsk_2015_06_hrp_drc/drc_task_common/launch/conservative_valve_detection.launch b/jsk_2015_06_hrp_drc/drc_task_common/launch/conservative_valve_detection.launch
@@ -7,7 +7,9 @@
   <arg name="VALVE_CORRESPONDENCE_DISTANCE" default="0.1" />
   <arg name="TORUS_FINDER_OUTLIER_THRESHOLD" default="0.05" />
   <arg name="INPUT_CLOUD" default="/full_cloud2" />
-  <include file="$(find drc_task_common)/launch/conservative_valve_viewer.launch" >
+  <arg name="VIEWER" default="true" />
+
+  <include file="$(find drc_task_common)/launch/conservative_valve_viewer.launch" if="$(arg VIEWER)" >
     <arg name="GLC_RECORD" value="$(arg GLC_RECORD)" />
   </include>