From 3bb4df6373ba75cc5022e377f5d03ba44138eac1 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 14 Sep 2021 13:56:21 -0400
Subject: [PATCH] rtabmap.launch: fixed gen_cloud_from_depth nodelet wrongly
 started when gen_cloud is false

---
 launch/rtabmap.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 9ed70b39..77cbe56a 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -210,7 +210,7 @@
       </group>
     </group>
     
-    <node pkg="nodelet" type="nodelet" name="gen_cloud_from_depth" args="standalone rtabmap_ros/point_cloud_xyz" clear_params="$(arg clear_params)" output="$(arg output)">
+    <node if="$(arg gen_cloud)" pkg="nodelet" type="nodelet" name="gen_cloud_from_depth" args="standalone rtabmap_ros/point_cloud_xyz" clear_params="$(arg clear_params)" output="$(arg output)">
       <remap from="depth/image"       to="$(arg depth_topic_relay)"/>
       <remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
       <remap from="cloud"             to="$(arg scan_cloud_topic)" />