feat(rbs_robot.launch.py): add 'interactive' launch argument

rbs_bringup/launch/rbs_robot.launch.py

@@ -33,6 +33,7 @@ def launch_setup(context, *args, **kwargs):
     use_skills = LaunchConfiguration("use_skills")
     namespace = LaunchConfiguration("namespace")
     multi_robot = LaunchConfiguration("multi_robot")
+    interactive_control = LaunchConfiguration("interactive_control").perform(context)
     robot_name = robot_name.perform(context)
     namespace = namespace.perform(context)
     robot_type = robot_type.perform(context)
@@ -93,6 +94,7 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments={
             "control_space": control_space,
             "control_strategy": control_strategy,
+            "interactive_control": interactive_control,
             "has_gripper": with_gripper_condition,
             "namespace": namespace,
         }.items(),
@@ -400,10 +402,17 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "use_rbs_utils",
-            default_value="true",
+            default_value="false",
             description="Whwther use utils",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "interactive_control",
+            default_value="false",
+            description="Use motion_control_handle to interact with InteractiveMarker in Rviz2",
+        )
+    )
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]