X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=scripts%2Frobo_explorer.py;h=e0da2ac9c6b3fe84ac68b34653077f17b45fd6bc;hp=039fbd41e0cd670279860468e8d7fa0150455e62;hb=6668166c0d628b03914d57e78de0646fb8176490;hpb=822c05d03c09295fb9687b3f58a9b9d7fbd3d170

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 039fbd4..e0da2ac 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -32,7 +32,8 @@ class RoboExplorer:
 		self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255"))
 
 		self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
-		self.pub_scan = rospy.Publisher("scan", LaserScan)
+		if self.enable_ultrasonic_laser:
+			self.pub_scan = rospy.Publisher("scan", LaserScan)
 		self.pub_odom = rospy.Publisher("odom", Odometry)
 		
 		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)