From 41f47be4004bcf027d8c1188a6dbe7d8370f3287 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kaan=20=C3=87olak?= Date: Tue, 25 Oct 2022 11:03:02 +0300 Subject: [PATCH] fix(tier4_perception_launch): fix missing container argument (#2087) * fix(tier4_perception_launch): fix missing container argument Signed-off-by: Kaan Colak * fix(tier4_perception_launch): rm unused param Signed-off-by: Kaan Colak Signed-off-by: Kaan Colak --- ...ointcloud_based_occupancy_grid_map.launch.py | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py index 2b7f9f8e83228..2feefdfb1053d 100644 --- a/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py +++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py @@ -16,8 +16,6 @@ from launch.actions import DeclareLaunchArgument from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition -from launch.conditions import LaunchConfigurationEquals -from launch.conditions import LaunchConfigurationNotEquals from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer @@ -62,26 +60,27 @@ def add_launch_arg(name: str, default_value=None): ] occupancy_grid_map_container = ComposableNodeContainer( - condition=LaunchConfigurationEquals("container", ""), - name="occupancy_grid_map_container", + name=LaunchConfiguration("container_name"), namespace="", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=composable_nodes, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), output="screen", ) load_composable_nodes = LoadComposableNodes( - condition=LaunchConfigurationNotEquals("container", ""), composable_node_descriptions=composable_nodes, - target_container=LaunchConfiguration("container"), + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), ) return LaunchDescription( [ - add_launch_arg("container", ""), - add_launch_arg("use_multithread", "false"), - add_launch_arg("use_intra_process", "false"), + add_launch_arg("use_multithread", "False"), + add_launch_arg("use_intra_process", "True"), + add_launch_arg("use_pointcloud_container", "False"), + add_launch_arg("container_name", "occupancy_grid_map_container"), add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"), add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"), add_launch_arg("output", "occupancy_grid"),