Add confg

Signed-off-by: Arjo Chakravarty <[email protected]>

ros_gz_sim/launch/gz_sim.launch.py.in

@@ -102,6 +102,7 @@ def launch_gz(context, *args, **kwargs):
     ign_version = LaunchConfiguration('ign_version').perform(context)
     debugger = LaunchConfiguration('debugger').perform(context)
     on_exit_shutdown = LaunchConfiguration('on_exit_shutdown').perform(context)
+    debug_env = LaunchConfiguration('debug_env').perform(context)
 
     if not len(gz_args) and len(ign_args):
         print("ign_args is deprecated, migrate to gz_args!")
@@ -127,17 +128,29 @@ def launch_gz(context, *args, **kwargs):
     else:
         on_exit = None
 
-    return [
-        LogInfo(f"Launching gazebo with the environment variables: {env}"),
-        ExecuteProcess(
-            cmd=[exec, exec_args, '--force-version', gz_version],
-            name='gazebo',
-            output='screen',
-            additional_env=env,
-            shell=True,
-            prefix=debug_prefix,
-            on_exit=on_exit
-        )]
+    if debug_env == 'true':
+        return [
+            LogInfo(f"Launching gazebo with the environment variables: {env}"),
+            ExecuteProcess(
+                cmd=[exec, exec_args, '--force-version', gz_version],
+                name='gazebo',
+                output='screen',
+                additional_env=env,
+                shell=True,
+                prefix=debug_prefix,
+                on_exit=on_exit
+                )]
+    else:
+        return [
+            ExecuteProcess(
+                cmd=[exec, exec_args, '--force-version', gz_version],
+                name='gazebo',
+                output='screen',
+                additional_env=env,
+                shell=True,
+                prefix=debug_prefix,
+                on_exit=on_exit
+                )]
 
 
 def generate_launch_description():