From 8b5b3fb80633aa5f17c0a776883d5295bfafa3d8 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 28 Feb 2019 19:54:48 +0300
Subject: [PATCH] Disable mavros if fcu_conn = none

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

diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index ded65f5e..d6235c2f 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -5,7 +5,7 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>