contoller config used only if defined

kroshu · Sep 2, 2024 · bdf0856 · bdf0856
1 parent 179a59c
commit bdf0856
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/kuka_resources/launch/fake_hardware_planning_template.launch.py b/kuka_resources/launch/fake_hardware_planning_template.launch.py
@@ -94,14 +94,15 @@ def controller_spawner(controller_with_config):
         arg_list = [
             controller_with_config[0],
             "-c",
-            controller_manager_node,
-            "-p",
-            controller_with_config[1],
+            controller_manager_node
         ]
+        if controller_with_config[1] is not None:
+            arg_list.append("-p")
+            arg_list.append(controller_with_config[1])
         return Node(package="controller_manager", executable="spawner", arguments=arg_list)
 
     controller_names_and_config = [
-        ("joint_state_broadcaster", []),
+        ("joint_state_broadcaster", None),
         ("joint_trajectory_controller", controller_config),
     ]