Only launch lidar if needed (#100)

* Only launch lidar if needed * Run prettier --------- Co-authored-by: hello-vinitha <145490650+hello-vinitha@users.noreply.github.com>
hello-robot · Oct 4, 2024 · 10ba52f · 10ba52f
1 parent 1808bb6
commit 10ba52f
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/launch/web_interface.launch.py b/launch/web_interface.launch.py
@@ -474,11 +474,6 @@ def generate_launch_description():
         )
         ld.add_action(configure_video_streams_node)
 
-    rplidar_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([stretch_core_path, "/launch/rplidar.launch.py"])
-    )
-    ld.add_action(rplidar_launch)
-
     navigation_bringup_launch = GroupAction(
         condition=LaunchConfigurationNotEquals("map_yaml", ""),
         actions=[
@@ -499,7 +494,12 @@ def generate_launch_description():
                     "params_file": LaunchConfiguration("nav2_params_file"),
                     "use_rviz": "false",
                 }.items(),
-            )
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    [stretch_core_path, "/launch/rplidar.launch.py"]
+                )
+            ),
         ],
     )
     ld.add_action(navigation_bringup_launch)