disable mesh if using gazebo

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
PickNikRobotics · Feb 23, 2024 · 1dfc6b6 · 1dfc6b6
1 parent 93e19bf
commit 1dfc6b6
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/src/picknik_ur_base_config/description/picknik_ur_attachments_macro.xacro b/src/picknik_ur_base_config/description/picknik_ur_attachments_macro.xacro
@@ -23,7 +23,7 @@
         <xacro:ur_realsense_camera_adapter prefix="" parent="${ur_realsense_camera_adapter_parent}" child_tool="realsense_camera_adapter_tool0" child_camera="d415_mount_link" rotation="0"/>
 
         <xacro:property name="simulation" default="$(arg simulation)"/>
-        <xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera" use_mesh="${simulation == 'gazebo'}">
+        <xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera" use_mesh="${not simulation == 'gazebo'}">
             <origin xyz="0 0 0" rpy="0 0 0"/>
         </xacro:realsense_d415>
 

diff --git a/src/picknik_ur_gazebo_config/config/config.yaml b/src/picknik_ur_gazebo_config/config/config.yaml
@@ -58,6 +58,7 @@ hardware:
       - name: "%>> hardware.type"
       - gripper_name: "robotiq_85"
       - use_pinch_links: "false"
+      - simulation: "gazebo"
       # Using the ogre renderer as it is compatible with most host hardware.
       # ogre2 (which is the Gazebo default) is also an option if your system supports it.
       - gazebo_renderer: ${GAZEBO_RENDERER:-ogre}