From e3e722a972318ec1156732df5fc645decc633520 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 21 Feb 2018 21:40:59 +0300
Subject: [PATCH] rc argument in clever.launch

---
 clever/launch/clever.launch | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index 6a582cfd..c1d7a6a6 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -8,6 +8,7 @@
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
     <arg name="aruco" default="false"/>
+    <arg name="rc" value="true"/>
     <arg name="fpv_camera" default="false"/>
     <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
     <arg name="arduino" default="false"/>
@@ -46,10 +47,10 @@
     <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
 
     <!-- rosbridge -->
-    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
 
     <!-- rc backend -->
-    <!--<node name="rc" pkg="clever" type="rc" output="screen"/>-->
+    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 
     <!-- FPV video streaming -->
     <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">