Only publishes origin_link in display.launch if using GUI.

diff --git a/tatuira_description/launch/display.launch b/tatuira_description/launch/display.launch
index db790cc..029390b 100644 (file)
--- a/tatuira_description/launch/display.launch
+++ b/tatuira_description/launch/display.launch
@@ -1,11 +1,13 @@
 <launch>
        <arg name="use_gui" default="false"/>
        <include file="$(find tatuira_description)/launch/tatuira.launch"/>
-       <node pkg="tf2_ros" type="static_transform_publisher" 
-               name="tatuira_origin_publisher"
-               args="0 0 0 0 0 0 1 map origin_link" />
-       <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui"
-               type="joint_state_publisher_gui" />
+       <group if="$(arg use_gui)">
+               <node pkg="tf2_ros" type="static_transform_publisher" 
+                       name="tatuira_origin_publisher"
+                       args="0 0 0 0 0 0 1 map origin_link" />
+               <node name="joint_state_publisher" pkg="joint_state_publisher_gui"
+                       type="joint_state_publisher_gui" />
+       </group>
        <node name="robot_state_publisher" pkg="robot_state_publisher"
                type="robot_state_publisher" />
        <node name="rviz" pkg="rviz" type="rviz"