From 7aad6d9335896f39fcc054833ce6f6faac8ab965 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 2 Nov 2023 14:14:07 +0900
Subject: [PATCH] update

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../launch/ndt_scan_matcher.launch.xml        | 22 ++-----------------
 1 file changed, 2 insertions(+), 20 deletions(-)

diff --git a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
index c77ac00ba3505..b442ac1b3d843 100644
--- a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
+++ b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
@@ -16,7 +16,7 @@
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
-  <!-- <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
+  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
     <remap from="points_raw" to="$(var input/pointcloud)"/>
 
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
@@ -30,23 +30,5 @@
     <remap from="ekf_odom" to="$(var input_ekf_odom)"/>
 
     <param from="$(var param_file)"/>
-  </node> -->
-  <node_container pkg="rclcpp_components" exec="component_container_mt" name="ndt_scan_matcher_container" namespace="">
-    <composable_node pkg="ndt_scan_matcher" plugin="NDTScanMatcher" name="ndt_scan_matcher" namespace="">
-      <remap from="points_raw" to="$(var input/pointcloud)"/>
-
-      <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
-      <remap from="pointcloud_map" to="$(var input_map_points_topic)"/>
-
-      <remap from="ndt_pose" to="$(var output_pose_topic)"/>
-      <remap from="ndt_pose_with_covariance" to="$(var output_pose_with_covariance_topic)"/>
-      <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>
-      <remap from="trigger_node_srv" to="$(var input_service_trigger_node)"/>
-      <remap from="pcd_loader_service" to="$(var client_map_loader)"/>
-      <remap from="ekf_odom" to="$(var input_ekf_odom)"/>
-
-      <param from="$(var param_file)"/>
-    </composable_node>
-    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
-  </node_container>
+  </node>
 </launch>