fix(euclidean_cluster): do not launch individual container when use_p…

…ointcloud_container is true Signed-off-by: kminoda <[email protected]>
autowarefoundation · Jan 31, 2024 · a8b0d46 · a8b0d46
1 parent 1a17a79
commit a8b0d46
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diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -76,6 +76,7 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     target_container = (

diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -77,6 +77,7 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     target_container = (