From a2a9ee921abf8d2a342dd011e653934052d6f2bd Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Thu, 7 Nov 2024 10:59:40 +0100
Subject: [PATCH] Move RViz arg

---
 husarion_ugv_gazebo/launch/simulation.launch.py | 11 +++++++++++
 panther_description/launch/rviz.launch.py       | 11 -----------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/husarion_ugv_gazebo/launch/simulation.launch.py b/husarion_ugv_gazebo/launch/simulation.launch.py
index cf34f986..34da7dc9 100644
--- a/husarion_ugv_gazebo/launch/simulation.launch.py
+++ b/husarion_ugv_gazebo/launch/simulation.launch.py
@@ -16,6 +16,7 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import (
     EnvironmentVariable,
@@ -45,6 +46,14 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
+    use_rviz = LaunchConfiguration("use_rviz")
+    declare_use_rviz_arg = DeclareLaunchArgument(
+        "use_rviz",
+        default_value="True",
+        description="Run RViz simultaneously.",
+        choices=["True", "true", "False", "false"],
+    )
+
     namespaced_gz_gui = ReplaceString(
         source_file=gz_gui,
         replacements={"{namespace}": namespace},
@@ -69,6 +78,7 @@ def generate_launch_description():
                 ]
             )
         ),
+        condition=IfCondition(use_rviz),
     )
 
     simulate_robots = IncludeLaunchDescription(
@@ -86,6 +96,7 @@ def generate_launch_description():
     actions = [
         declare_gz_gui,
         declare_namespace_arg,
+        declare_use_rviz_arg,
         # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)
         SetUseSimTime(True),
         gz_sim,
diff --git a/panther_description/launch/rviz.launch.py b/panther_description/launch/rviz.launch.py
index 8f0cb3e2..b194341c 100644
--- a/panther_description/launch/rviz.launch.py
+++ b/panther_description/launch/rviz.launch.py
@@ -17,7 +17,6 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.conditions import IfCondition
 from launch.substitutions import (
     EnvironmentVariable,
     LaunchConfiguration,
@@ -47,14 +46,6 @@ def generate_launch_description():
         description="RViz configuration file.",
     )
 
-    use_rviz = LaunchConfiguration("use_rviz")
-    declare_use_rviz_arg = DeclareLaunchArgument(
-        "use_rviz",
-        default_value="True",
-        description="Run RViz simultaneously.",
-        choices=["True", "true", "False", "false"],
-    )
-
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -75,13 +66,11 @@ def generate_launch_description():
         executable="rviz2",
         namespace=namespace,
         arguments=["-d", rviz_config],
-        condition=IfCondition(use_rviz),
     )
 
     actions = [
         declare_namespace_arg,
         declare_rviz_config_arg,
-        declare_use_rviz_arg,
         declare_use_sim_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         rviz_node,