From 1dfc6b6f1bd4efebc2645752a361b822a902db32 Mon Sep 17 00:00:00 2001
From: Paul Gesel <paulgesel@gmail.com>
Date: Fri, 23 Feb 2024 12:10:41 -0700
Subject: [PATCH] disable mesh if using gazebo

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
---
 .../description/picknik_ur_attachments_macro.xacro              | 2 +-
 src/picknik_ur_gazebo_config/config/config.yaml                 | 1 +
 2 files changed, 2 insertions(+), 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
index 0779b119..8df4acca 100644
--- 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
index 98f44118..9d368e46 100644
--- 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}