added navigation test

toid_navigation/launch/mock_control_launch.py

@@ -20,15 +20,8 @@ def generate_launch_description():
         'toid_bot_description.urdf'
     )
 
-    starting_position = LaunchConfiguration("start_position")
     visualize = LaunchConfiguration("visualize")
 
-    starting_position_arg = DeclareLaunchArgument(
-        'start_position',
-        default_value='0 0 0 0 0 0',
-        description="Set initial robot position" 
-    )
-
     visualize_arg = DeclareLaunchArgument(
         'visualize',
         default_value='True',
@@ -39,7 +32,8 @@ def generate_launch_description():
         package='tf2_ros',
         executable='static_transform_publisher',
         name='map_to_odom_broadcaster',
-        arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']
+        arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
+        condition=IfCondition(LaunchConfiguration('visualize'))
     )
 
     robot_state_publisher = Node(
@@ -47,28 +41,28 @@ def generate_launch_description():
         executable='robot_state_publisher',
         name='robot_state_publisher',
         output='screen',
-        parameters = [{'robot_description': Command(['xacro ', default_model_path])}]
+        parameters=[{'robot_description': Command(['xacro ', default_model_path])}]
     )
 
     controller_manager = Node(
         package='controller_manager',
         executable='ros2_control_node',
         output='screen',
-        parameters = [params]
+        parameters=[params]
     )
 
     joint_state_broadcaster = Node(
         package='controller_manager',
         executable='spawner',
         output='screen',
-        arguments= ["joint_state_broadcaster"]
+        arguments=["joint_state_broadcaster"]
     )
 
     diffbot_base_controller = Node(
         package='controller_manager',
         executable='spawner',
         output='both',
-        arguments= [
+        arguments=[
             "diffbot_base_controller",
             "-p",
             params,
@@ -89,7 +83,6 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        starting_position_arg,
         visualize_arg,
         odom_broadcast,
         robot_state_publisher,