From aeb32ce77ae2fa14cc0ff5af3f4bb37875a20ad4 Mon Sep 17 00:00:00 2001
From: Ryohei Sasaki <ryohei.sasaki@map4.jp>
Date: Thu, 9 Mar 2023 17:35:49 +0900
Subject: [PATCH] Undo conditional branch of stop_check_enabled

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>
---
 launch/tier4_localization_launch/launch/util/util.launch.xml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
index 96c14ab783e7b..7bf69c1602aaa 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.xml
+++ b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -3,13 +3,11 @@
   <!-- Topics -->
   <arg name="input/pointcloud" description="input topic name"/>
   <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
-  <arg name="stop_check_enabled" default="true"/>
 
   <let name="ndt_enabled" value="true" if="$(eval &quot;'$(var pose_estimator_mode)'=='lidar'&quot;)"/>
   <let name="ndt_enabled" value="false" if="$(eval &quot;'$(var pose_estimator_mode)'=='gnss'&quot;)"/>
   <let name="gnss_pose_cov" value="/sensing/gnss/pose_with_covariance" if="$(eval &quot;'$(var pose_estimator_mode)'=='lidar'&quot;)"/>
   <let name="gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance" if="$(eval &quot;'$(var pose_estimator_mode)'=='gnss'&quot;)"/>
-  <let name="stop_check_enabled" value="false" if="$(eval &quot;'$(var pose_estimator_mode)'=='gnss'&quot;)"/>
   <!-- container -->
   <arg name="use_pointcloud_container" default="True" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="/pointcloud_container" description="container name"/>
@@ -22,7 +20,7 @@
     <arg name="gnss_enabled" value="true"/>
     <arg name="ndt_enabled" value="$(var ndt_enabled)"/>
     <arg name="ekf_enabled" value="true"/>
-    <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
+    <arg name="stop_check_enabled" value="true"/>
     <arg name="gnss_pose_cov" value="$(var gnss_pose_cov)"/>
   </include>