From 8b09f49c8d4a798f574deb0a04b779b060b127b8 Mon Sep 17 00:00:00 2001
From: Cameron Brown <me@cbrxyz.com>
Date: Sun, 3 Nov 2024 14:44:10 -0500
Subject: [PATCH] navigator_launch: Add ability to turn off classifier when
 running simulation

---
 .../navigator_launch/launch/simulation.launch                | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index 6f0543cf0..d830beea8 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -7,6 +7,9 @@
     <arg name="world" default="example_course" />
     <arg name="extra_gazebo_args" default=""/>
     <arg name="simulation" default="True"/>
+    <!-- Adding an option to disable the classifier/YOLO model which often runs
+    very slow on laptops -->
+    <arg name="classifier" default="True"/>
     <param name="/use_sim_time" type="bool" value="true" />
     <param name="/is_simulation" type="bool" value="True" />
     <arg name="online-bagger" default="True" />
@@ -27,7 +30,7 @@
     </include>
 
     <!-- Simulation Relevant Code -->
-    <include file="$(find navigator_launch)/launch/perception/classifier.launch" >
+    <include if="$(arg classifier)" file="$(find navigator_launch)/launch/perception/classifier.launch" >
         <arg name="main_image_topic" value="/wamv/sensors/camera/front_left_cam/image_raw"/>
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>