add joint_state_publisher_gui (#40)

Co-authored-by: Tony Guo <tonyguo@gyro.com.tw>

Author: tony2guo

launch/display.launch

@@ -5,9 +5,9 @@
   <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
 
   <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
-  <param name="use_gui" value="$(arg gui)"/>
 
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 

package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>rviz</run_depend>
   <run_depend>xacro</run_depend>