Use contoller config in moveit fake hardware launch only if defined (#63

)

* contoller config used only if defined

* format

---------

Co-authored-by: Aron Svastits <svastits1@gmail.com>

kuka_resources/launch/fake_hardware_planning_template.launch.py

@@ -91,17 +91,14 @@ def launch_setup(context, *args, **kwargs):
 
     # Spawn controllers
     def controller_spawner(controller_with_config):
-        arg_list = [
-            controller_with_config[0],
-            "-c",
-            controller_manager_node,
-            "-p",
-            controller_with_config[1],
-        ]
+        arg_list = [controller_with_config[0], "-c", controller_manager_node]
+        if controller_with_config[1] is not None:
+            arg_list.append("-p")
+            arg_list.append(controller_with_config[1])
         return Node(package="controller_manager", executable="spawner", arguments=arg_list)
 
     controller_names_and_config = [
-        ("joint_state_broadcaster", []),
+        ("joint_state_broadcaster", None),
         ("joint_trajectory_controller", controller_config),
     ]