Update launch

ToshikiNakamura0412 · Jun 22, 2024 · 5ca86c8 · 5ca86c8
1 parent 6cdc4d5
commit 5ca86c8
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/launch/emcl.launch b/launch/emcl.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="output" default="log" doc="screen or log"/>
     <arg name="config_file_path" default="$(find emcl_ros)/launch/test.yaml"/>
     <arg name="use_cloud" default="false"/>
     <arg name="use_dynamic_reconfigure" default="false"/>
@@ -8,7 +9,7 @@
     <arg name="initial_pose_topic" default="/initialpose"/>
     <arg name="laser_scan_topic" default="/scan"/>
     <arg name="odom_topic" default="/odom"/>
-    <node pkg="emcl_ros" type="emcl_node" name="emcl" output="screen">
+    <node pkg="emcl_ros" type="emcl_node" name="emcl" output="$(arg output)">
         <rosparam command="load" file="$(arg config_file_path)"/>
         <param name="use_cloud" value="$(arg use_cloud)"/>
         <param name="use_dynamic_reconfigure" value="$(arg use_dynamic_reconfigure)"/>

diff --git a/launch/test.launch b/launch/test.launch
@@ -7,6 +7,7 @@
     <arg name="use_gyrodom" default="false"/>
 
     <include file="$(find emcl_ros)/launch/emcl.launch">
+        <arg name="output" value="screen"/>
         <arg name="use_cloud" value="$(arg use_cloud)"/>
         <arg name="use_dynamic_reconfigure" value="$(arg use_dynamic_reconfigure)"/>
         <arg name="odom_topic" value="/gyrodom" if="$(arg use_gyrodom)"/>