From 54e0ef1518f27a0c6a4bff7ca59df61a40d710ab Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Sun, 29 Mar 2020 14:35:35 +0900
Subject: [PATCH] Disable bev_camera when not publishing class image

---
 launch/tensorrt_bcnn.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/tensorrt_bcnn.launch b/launch/tensorrt_bcnn.launch
index e597422..b1d41eb 100644
--- a/launch/tensorrt_bcnn.launch
+++ b/launch/tensorrt_bcnn.launch
@@ -44,7 +44,7 @@
 
   </node>
 
-  <group ns="bev_camera">
+  <group if="$(eval VIZ_CLASS_IMAGE)" ns="bev_camera">
     <node pkg="tf" type="static_transform_publisher" name="camera_broadcaster"
           args="0 0 -1 0 0 3.141592653589793 velodyne bev 100" />
     <node name="camera_info" pkg="rostopic" type="rostopic"