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I'd like to control topic remaps using roslaunch command-line arguments (i.e. by setting ROS parameters).
Is there a way to cause a roslaunch XML topic remap to be conditional? I'm looking for behavior like the <group if="$(arg remap)"> tag.
I tried putting a <remap> into a <group>, but this only seems to remap topics for the nodes in that group.
if and unless can be used on any tag, not just group, so you should be able to achieve what you want with something like:
<remap if="$(your_condition)" .. />
See also wiki/roslaunch/XML - If and unless attributes:
All tags support if and unless attributes, which include or exclude a tag based on the evaluation of a value [..]
(emphasis mine).
Asked: 2015-05-06 13:13:30 -0600
Seen: 1,825 times
Last updated: May 06 '15
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