From 806c6852a250bccf598a555f977b30317a747911 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 10 Mar 2015 18:47:17 +0100
Subject: [PATCH] allow to start gazebo without gui
---
ur_gazebo/launch/ur10.launch | 4 +++-
ur_gazebo/launch/ur10_joint_limited.launch | 2 ++
ur_gazebo/launch/ur5.launch | 2 ++
ur_gazebo/launch/ur5_joint_limited.launch | 2 ++
4 files changed, 9 insertions(+), 1 deletion(-)
diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch
index 6aaf93a..e06259c 100644
--- a/ur_gazebo/launch/ur10.launch
+++ b/ur_gazebo/launch/ur10.launch
@@ -2,11 +2,13 @@
<launch>
<arg name="limited" default="false"/>
<arg name="paused" default="false"/>
-
+ <arg name="gui" default="true"/>
+
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
+ <arg name="gui" value="$(arg gui)"/>
</include>
<!-- send robot urdf to param server -->
diff --git a/ur_gazebo/launch/ur10_joint_limited.launch b/ur_gazebo/launch/ur10_joint_limited.launch
index 58698e2..d482944 100644
--- a/ur_gazebo/launch/ur10_joint_limited.launch
+++ b/ur_gazebo/launch/ur10_joint_limited.launch
@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
+ <arg name="gui" default="true"/>
<include file="$(find ur_gazebo)/launch/ur10.launch">
<arg name="limited" value="true"/>
+ <arg name="gui" value="$(arg gui)"/>
</include>
</launch>
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch
index cd8363d..cd0f139 100644
--- a/ur_gazebo/launch/ur5.launch
+++ b/ur_gazebo/launch/ur5.launch
@@ -2,11 +2,13 @@
<launch>
<arg name="limited" default="false"/>
<arg name="paused" default="false"/>
+ <arg name="gui" default="true"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
+ <arg name="gui" value="$(arg gui)"/>
</include>
<!-- send robot urdf to param server -->
diff --git a/ur_gazebo/launch/ur5_joint_limited.launch b/ur_gazebo/launch/ur5_joint_limited.launch
index c6050cb..9538638 100644
--- a/ur_gazebo/launch/ur5_joint_limited.launch
+++ b/ur_gazebo/launch/ur5_joint_limited.launch
@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
+ <arg name="gui" default="true"/>
<include file="$(find ur_gazebo)/launch/ur5.launch">
<arg name="limited" value="true"/>
+ <arg name="gui" value="$(arg gui)"/>
</include>
</launch>
--
GitLab