Added robot ns to launch file

tue-robotics · Apr 23, 2024 · 8b4c083 · 8b4c083
1 parent 3ac65d6
commit 8b4c083
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/launch/interaction/speech_recognition.launch b/launch/interaction/speech_recognition.launch
@@ -5,6 +5,7 @@
 	<arg name="machine" default="localhost"/>
     <arg name="dragonfly" default="true" />
     <arg name="kaldi" default="false" />
+    <arg name="robot" default="hero" />
 
     <arg name="model_path" default="$(env HOME)/data/speech_models/model/"/>
 
@@ -13,13 +14,16 @@
 	<!-- Always run a multicast server with a string topic answerer for amigo-hear -->
 	<node name="hmi" pkg="hmi" type="multi_client" machine="$(arg machine)" output="log"/>
 
+    <!-- QR-code -->
+    <group ns="$(arg robot)">
+        <node name="qr_code_decoder" pkg="hmi" type="qr_code_decoder" output="log"/>
+    </group> <!-- ns="$(arg robot)" -->
+
 	<group ns="hmi">
 
-		<!-- QR-code / amigo-hear -->
+		<!-- amigo-hear -->
 		<node name="string_topic_answerer" pkg="hmi" type="string_topic_answerer" output="log"/>
 
-		<node name="qr_code_decoder" pkg="hmi" type="qr_code_decoder" output="log"/>
-
 		<!-- If we are on the real robot, launch the server, otherwise a dummy -->
 		<group if="$(optenv ROBOT_REAL false)">
 			<!-- bridge to windows -->