From acb358e0408977617a066ef84a036f3db8cc69e3 Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Date: Mon, 12 Dec 2022 16:04:14 +0900
Subject: [PATCH] feat: use xml for system monitor launch (#602)

* feat: use xml for system monitor launch

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* ci(pre-commit): autofix

* fix voltage monitor param path

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../config/system_monitor/voltage_monitor.param.yaml         | 5 +++++
 system_launch/launch/system.launch.xml                       | 3 ++-
 2 files changed, 7 insertions(+), 1 deletion(-)
 create mode 100644 system_launch/config/system_monitor/voltage_monitor.param.yaml

diff --git a/system_launch/config/system_monitor/voltage_monitor.param.yaml b/system_launch/config/system_monitor/voltage_monitor.param.yaml
new file mode 100644
index 0000000000..e55410be39
--- /dev/null
+++ b/system_launch/config/system_monitor/voltage_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    cmos_battery_warn: 2.90
+    cmos_battery_error: 2.70
+    cmos_battery_label: ""
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index c2ea378a7f..7360aadb0a 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -11,7 +11,7 @@
     <!-- System Monitor -->
     <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
       <push-ros-namespace namespace="system_monitor"/>
-      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
+      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.xml">
         <arg name="cpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
         <arg name="hdd_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/hdd_monitor.param.yaml"/>
         <arg name="mem_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/mem_monitor.param.yaml"/>
@@ -19,6 +19,7 @@
         <arg name="ntp_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/ntp_monitor.param.yaml"/>
         <arg name="process_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/process_monitor.param.yaml"/>
         <arg name="gpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/gpu_monitor.param.yaml"/>
+        <arg name="voltage_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/voltage_monitor.param.yaml"/>
       </include>
     </group>