feat(system_launch): add group tag around include (autowarefoundation…

…#573) Signed-off-by: Tomohito Ando <[email protected]> Signed-off-by: Tomohito Ando <[email protected]>
TomohitoAndo · Nov 24, 2022 · e497c42 · e497c42
1 parent 6015238
commit e497c42
Showing 1 changed file with 24 additions and 19 deletions.
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -39,29 +39,34 @@
     </group>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
-    <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-      <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
-      <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
-      <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
-      <arg name="use_emergency_hold" value="false" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
+      <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+        <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+        <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
+        <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
+        <arg name="use_emergency_hold" value="false" />
+      </include>
+    </group>
 
     <!-- Emergency Handler -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/emergency_handler/emergency_handler.param.yaml"/>
-    <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/emergency_handler/emergency_handler.param.yaml"/>
+      <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+      </include>
+    </group>
 
     <!-- MRM Operator -->
-    <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
-      <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
-    </include>
-    <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
-      <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
-    </include>
-
+    <group>
+      <include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
+        <arg name="config_file" value="$(find-pkg-share mrm_comfortable_stop_operator)/config/mrm_comfortable_stop_operator.param.yaml"/>
+      </include>
+      <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
+        <arg name="config_file" value="$(find-pkg-share mrm_emergency_stop_operator)/config/mrm_emergency_stop_operator.param.yaml"/>
+      </include>
+    </group>
 
     <!-- Dummy Diag Publisher -->
     <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">