Added launching wibotic_connector_can

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 5, 2024 · 6e96685 · 6e96685
1 parent 5b6f5c7
commit 6e96685
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Showing 2 changed files with 10 additions and 0 deletions.
diff --git a/panther_docking/launch/docking.launch.py b/panther_docking/launch/docking.launch.py
@@ -132,6 +132,14 @@ def generate_launch_description():
         launch_arguments={"namespace": namespace}.items(),
     )
 
+    wibotic_connector_can = Node(
+        package="wibotic_connector_can",
+        executable="wibotic_connector_can",
+        namespace=namespace,
+        emulate_tty=True,
+        condition=PythonExpression(["'false' if '", use_sim, "' else '", use_wibotic_info, "'"]),
+    )
+
     return LaunchDescription(
         [
             declare_use_sim_arg,
@@ -143,5 +151,6 @@ def generate_launch_description():
             docking_server_node,
             docking_server_activate_node,
             dock_pose_publisher,
+            wibotic_connector_can,
         ]
     )
diff --git a/panther_docking/package.xml b/panther_docking/package.xml
@@ -29,6 +29,7 @@
 
   <exec_depend>nav2_lifecycle_manager</exec_depend>
   <exec_depend>python3-imageio</exec_depend>
+  <exec_depend>wibotic_connector_can</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>