Currently, in order to spawn pr2 URDF as parameter in roslaunch, we must set environment variable KINECT1=true or KINECT2=true and this behavior is uncontrollable by roslaunch.
In this pull request, xacro:arg is used as variable KINECT instead of optenv, and set the default value as environment variables in upload_pr2.launch.
We can now control kinect both via roslaunch (e.g. roslaunch pr2_description upload_pr2.launch KINECT1:=true) and via env (e.g. KINECT1=true roslaunch pr2_description upload_pr2.launch)
Currently, in order to spawn pr2 URDF as parameter in roslaunch, we must set environment variable
KINECT1=trueorKINECT2=trueand this behavior is uncontrollable by roslaunch. In this pull request,xacro:argis used as variableKINECTinstead ofoptenv, and set the default value as environment variables inupload_pr2.launch. We can now control kinect both via roslaunch (e.g.roslaunch pr2_description upload_pr2.launch KINECT1:=true) and via env (e.g.KINECT1=true roslaunch pr2_description upload_pr2.launch)