From 355106b1d78902f5300725186ce2b1ccdd9ae2d6 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 20 Sep 2020 18:07:12 -0300
Subject: [PATCH] Only publishes origin_link in display.launch if using GUI.

---
 tatuira_description/launch/display.launch | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/tatuira_description/launch/display.launch b/tatuira_description/launch/display.launch
index db790cc..029390b 100644
--- 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"
-- 
2.12.0