When writing tasks using the task_manager submodule, if the SimulationModel instance is added to the running simulation using spawn, sometimes robot_state_publisher and joint_state_publisher also need to be started in order to have the correct tf frames published.
Add the option to also start those nodes, if necessary within the spawn function.
When writing tasks using the
task_managersubmodule, if theSimulationModelinstance is added to the running simulation usingspawn, sometimesrobot_state_publisherandjoint_state_publisheralso need to be started in order to have the correcttfframes published. Add the option to also start those nodes, if necessary within thespawnfunction.