From 3e3c5aa45358e24ba0b4e4a646a9990242e41d1d Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 6 Oct 2021 23:54:19 +0300
Subject: [PATCH] Add maintain_camera_rate argument to simulator.launch

---
 clover_simulation/launch/simulator.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
index e7631c3a..30c036cb 100644
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -4,6 +4,7 @@
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
     <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
+    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
     <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
     <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
     <arg name="gps" default="false"/> <!--Simulated GPS module -->
@@ -28,6 +29,7 @@
     <!-- Clover model -->
     <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
         <arg name="main_camera" value="$(arg main_camera)"/>
+        <arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
         <arg name="rangefinder" value="$(arg rangefinder)"/>
         <arg name="led" value="$(arg led)"/>
         <arg name="gps" value="$(arg gps)"/>