From 9a8aa00bc715c5f1f3af2fe5f913daec3e6745e2 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 6 Nov 2022 02:02:43 +0600
Subject: [PATCH] Run map_flipped frame only when markers placement is ceiling

---
 clover/launch/aruco.launch  | 4 ++++
 clover/launch/clover.launch | 2 --
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
index 53766c05..4fbb5e44 100644
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -53,4 +53,8 @@
         <param name="force_init" value="$(arg force_init)"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
+
+    <!-- run map_flipped frame if placement is ceiling -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
+        args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
 </launch>
diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch
index 8c77a0f4..98954f7c 100644
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -48,8 +48,6 @@
         <param name="disable_on_vpe" value="false"/>
     </node>
 
-    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
-
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/main_camera_optical" value="map"/>