From 3a15e0d2d7947a70cd3536342f19810fdf6b1065 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Wed, 28 Jun 2023 02:25:23 -0400
Subject: [PATCH] Fix: perception: No octomap shown on RViz (along with
 https://github.com/ros-planning/moveit_resources/commit/e116be874e9143a84ead9af893bd04013da482b0)

---
 .../launch/obstacle_avoidance_demo.launch.xml         | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
index e16febdbfe..61ce6b4a06 100644
--- a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
+++ b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
@@ -9,17 +9,16 @@
   -->
   <arg name="shape_transform_cache_lookup_wait_time"
        default="0.5" />
-  
+
   <!-- Play the rosbag that contains the pointcloud data -->
-  <executable cmd="ros2 bag play -l $(var bagfile)" output="screen" />
+  <executable cmd="ros2 bag play -l --clock 10.0 $(var bagfile)" output="screen" />
 
   <include file="$(var launchfile_panda)">
-    <arg name="shape_transform_cache_lookup_wait_time"
-         value="$(var shape_transform_cache_lookup_wait_time)" />
+    <arg name="shape_transform_cache_lookup_wait_time" value="$(var shape_transform_cache_lookup_wait_time)" />
+    <arg name="rviz_tutorial" value="false" />
   </include>
 
   <!-- If needed, broadcast static tf for robot root -->
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
   <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.00 -.40 0.60 0.19 0.07 -1.91 world camera_rgb_optical_frame" />
-  
 </launch>