From 72970eab4e417c0a8a68ea7926903c2b5f5da7b5 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Mon, 27 Mar 2023 00:10:00 +0900
Subject: [PATCH] stop snap_map_icp for detect cans demo

---
 detect_cans_in_fridge_201202/launch/startup.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/detect_cans_in_fridge_201202/launch/startup.launch b/detect_cans_in_fridge_201202/launch/startup.launch
index 772f9f7bff..338f87d9c9 100644
--- a/detect_cans_in_fridge_201202/launch/startup.launch
+++ b/detect_cans_in_fridge_201202/launch/startup.launch
@@ -1,5 +1,6 @@
 <launch>
   <arg name="start_rviz" default="false" />
+  <arg name="snap_map_icp" default="false" />
   <arg name="wait_query" default="false" />
   <arg name="execute" default="false" />
   <arg name="DEMOTYPE" default="map" />
@@ -16,7 +17,8 @@
          if="$(arg start_rviz)" />
 
   <!-- ICP matching between map and base scan -->
-  <node pkg="snap_map_icp" type="snap_map_icp" name="tum_SnapMapICP"
+  <node if="$(arg snap_map_icp)"
+        pkg="snap_map_icp" type="snap_map_icp" name="tum_SnapMapICP"
         output="screen" machine="c2">
     <param name="age_threshold" value="2.0"/>
     <param name="icp_inlier_threshold" value="0.78" />