From 849a22ebc697723863b6d6f618994e29ca4c07c9 Mon Sep 17 00:00:00 2001 From: chyoo Date: Thu, 6 Aug 2026 15:00:12 +0900 Subject: [PATCH] fix: use Gazebo sensor TF in simulation --- src/perception_pkg/launch/perception.launch.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/perception_pkg/launch/perception.launch.py b/src/perception_pkg/launch/perception.launch.py index bff03f0..4fc8e06 100755 --- a/src/perception_pkg/launch/perception.launch.py +++ b/src/perception_pkg/launch/perception.launch.py @@ -3,6 +3,7 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, GroupAction +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -36,6 +37,9 @@ def generate_launch_description(): name='pub_static_tf', output='screen', parameters=[use_sim_time_param], + # Gazebo publishes base_link -> os_lidar from the model SDF. + # Keep this real-platform transform publisher out of simulation. + condition=UnlessCondition(sim_mode), ), Node( # 현재 imu와 speed를 이용한 odom만 발행. 추후 vehicle steering package='perception_pkg',