From df60bc78d5d77b305357f223654c3bbb734b56f3 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 14 Jul 2021 12:09:18 -0400
Subject: [PATCH] demo_husky.launch: fixed icp_odometry subscribing to both 2d
 and 3d lidars (choosing always 2d)

---
 launch/demo/demo_husky.launch | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/launch/demo/demo_husky.launch b/launch/demo/demo_husky.launch
index dd92a26b..9b0933ce 100644
--- a/launch/demo/demo_husky.launch
+++ b/launch/demo/demo_husky.launch
@@ -82,11 +82,13 @@
     
     <!-- 2D LiDAR -->
     <arg name="subscribe_scan"  value="$(arg lidar2d)" />
-    <arg name="scan_topic"      value="/scan" />
+    <arg     if="$(arg lidar2d)" name="scan_topic"  value="/scan" />
+    <arg unless="$(arg lidar2d)" name="scan_topic"  value="/scan_not_used" />
     
     <!-- 3D LiDAR -->
     <arg name="subscribe_scan_cloud"  value="$(arg lidar3d)" />
-    <arg name="scan_cloud_topic"      value="/velodyne_points" />
+    <arg     if="$(arg lidar3d)" name="scan_cloud_topic" value="/velodyne_points" />
+    <arg unless="$(arg lidar3d)" name="scan_cloud_topic" value="/scan_cloud_not_used" />
     
     <!-- If camera is used -->
     <arg name="depth"             value="$(eval camera and not depth_from_lidar)" />