From f6867aaaae83216c59870da5ff476729ff2f2d70 Mon Sep 17 00:00:00 2001
From: hello-binit <64861565+hello-binit@users.noreply.github.com>
Date: Thu, 17 Jun 2021 00:30:26 -0400
Subject: [PATCH] Mapping and nav launch Rviz based on rosarg

---
 stretch_navigation/launch/mapping.launch    | 4 +++-
 stretch_navigation/launch/navigation.launch | 3 ++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/stretch_navigation/launch/mapping.launch b/stretch_navigation/launch/mapping.launch
index 11bc5c8..4fce65b 100644
--- a/stretch_navigation/launch/mapping.launch
+++ b/stretch_navigation/launch/mapping.launch
@@ -1,5 +1,7 @@
 <launch>
 
+  <arg name="rviz" default="true"/>
+
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
   <param name="/stretch_driver/mode" type="string" value="navigation" />
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
@@ -12,7 +14,7 @@
     <remap from="/cmd_vel" to="/stretch/cmd_vel" />
   </node>
 
-  <node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/mapping.rviz" />
+  <node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/mapping.rviz" if="$(arg rviz)" />
 
   <node pkg="gmapping" type="slam_gmapping" name="gmapping_record_map" output="log" />
 
diff --git a/stretch_navigation/launch/navigation.launch b/stretch_navigation/launch/navigation.launch
index 3ce1425..2a359b5 100644
--- a/stretch_navigation/launch/navigation.launch
+++ b/stretch_navigation/launch/navigation.launch
@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="map_yaml" />
+  <arg name="rviz" default="true"/>
 
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
   <param name="/stretch_driver/mode" type="string" value="navigation" />
@@ -21,6 +22,6 @@
     <remap from="/cmd_vel" to="/stretch/cmd_vel" />
   </node>
 
-  <node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/navigation.rviz" />
+  <node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/navigation.rviz" if="$(arg rviz)" />
 
 </launch>