Use set_parameter for use_sim_time (autowarefoundation#198)

* Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
tkimura4 · Dec 13, 2021 · f5c40ae · f5c40ae
1 parent 3222bb6
commit f5c40ae
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Showing 3 changed files with 3 additions and 4 deletions.
diff --git a/launch/autoware_launch/launch/autoware.launch.xml b/launch/autoware_launch/launch/autoware.launch.xml
@@ -60,7 +60,6 @@
 
   <!-- Rviz -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->

diff --git a/launch/autoware_launch/launch/logging_simulator.launch.xml b/launch/autoware_launch/launch/logging_simulator.launch.xml
@@ -19,7 +19,7 @@
   <arg name="rviz" default="true" description="launch rviz" />
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" />
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
-  <set_env name="AW_ROS2_USE_SIM_TIME" value="true" />
+  <set_parameter name="use_sim_time" value="true" />
 
   <!-- Vehicle -->
   <group>
@@ -94,7 +94,6 @@
 
   <!-- Rviz -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->

diff --git a/launch/autoware_launch/launch/planning_simulator.launch.xml b/launch/autoware_launch/launch/planning_simulator.launch.xml
@@ -13,6 +13,8 @@
   <arg name="perception/enable_detection_failure" default="true"/>
   <arg name="perception/enable_object_recognition" default="true"/>
   <arg name="sensing/visible_range" default="300.0"/>
+  <arg name="use_sim_time" default="false" />
+  <set_parameter name="use_sim_time" value="$(var use_sim_time)" />
 
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
@@ -56,7 +58,6 @@
 
   <!-- Rviz -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->