Merge branch 'master' into feature/jazzy_support

kroshu · Sep 2, 2024 · ff68554 · ff68554
2 parents 99c1d4a + 2b0a7c8
commit ff68554
Showing 1 changed file with 5 additions and 8 deletions.
diff --git a/kuka_resources/launch/fake_hardware_planning_template.launch.py b/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),
     ]