Add back use_simulator parameter

Signed-off-by: Luca Della Vedova <[email protected]>

Author: luca-della-vedova

nav2_minimal_tb4_sim/launch/spawn_tb4.launch.py

@@ -19,6 +19,7 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration
 
 from launch_ros.actions import Node, PushRosNamespace
@@ -45,6 +46,11 @@ def generate_launch_description():
         default_value='',
         description='Top-level namespace')
 
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        'use_simulator',
+        default_value='True',
+        description='Whether to start the simulator')
+
     declare_use_sim_time_cmd = DeclareLaunchArgument(
         'use_sim_time',
         default_value='true',
@@ -97,6 +103,7 @@ def generate_launch_description():
         arguments=['/rgbd_camera/depth_image'])
 
     spawn_model = Node(
+        condition=IfCondition(use_simulator),
         package='ros_gz_sim',
         executable='create',
         output='screen',
@@ -114,6 +121,7 @@ def generate_launch_description():
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_robot_name_cmd)
     # ld.add_action(declare_robot_sdf_cmd)
+    ld.add_action(declare_use_simulator_cmd)
     ld.add_action(declare_use_sim_time_cmd)
 
     ld.add_action(PushRosNamespace(namespace))