From 18fbd631f5d7ac95241f8acb86259a75f31cf7f8 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <taiki.tanaka@tier4.jp>
Date: Mon, 16 Sep 2024 20:28:39 +0900
Subject: [PATCH] feat: add rviz arg

---
 .../launch/aichallenge_system.launch.xml                       | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/launch/aichallenge_system.launch.xml b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/launch/aichallenge_system.launch.xml
index c46b5a3e..355c5b6b 100644
--- a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/launch/aichallenge_system.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/launch/aichallenge_system.launch.xml
@@ -4,6 +4,7 @@
     <log message="This is aichallenge_system_launch."/>
     <arg name="simulation" default="true"/>
     <arg name="use_sim_time" default="$(var simulation)"/>
+    <arg name="run_rviz" default="$(var simulation)"/>
     <arg name="launch_vehicle_interface" default="true"/>
     <arg name="sensor_model" default="racing_kart_sensor_kit"/>
     <log message="echo launch param use_sim_time: $(var use_sim_time) launch_vehicle_interface: $(var launch_vehicle_interface) sensor_model: $(var sensor_model)"/>
@@ -28,7 +29,7 @@
     </node>
 
     <!-- RViz -->
-    <group>
+   <group if="$(var run_rviz)">
         <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share aichallenge_system_launch)/rviz/image/autoware.png"/>
     </group>
 </launch>