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feat(tier4_localization_component_launch): add an option not to use exisitng pointcloud preprocessing node containers #890

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feat(tier4_localization_component_launch): add an option not to use exisitng pointcloud preprocessing node containers #890

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a8b8334
Revised launch file so that the arguments match with the universe and…
TaikiYamada4 Feb 27, 2024
7c443d1
style(pre-commit): autofix
pre-commit-ci[bot] Feb 27, 2024
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11 changes: 6 additions & 5 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,19 +4,20 @@
<arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
<arg
name="lidar_container_name"

<!-- If there is a specific node container to load pointcloud preprocessing nodes for localization, uncomment the following.-->
<!--arg
name="target_pointcloud_container_name"
default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
description="The target container to which lidar preprocessing nodes in localization be attached"
/>
description="The target container to which pointcloud preprocessing nodes in the localization component be loaded."
/-->

<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
<arg name="pose_source" value="$(var pose_source)"/>
<arg name="twist_source" value="$(var twist_source)"/>
<arg name="system_run_mode" value="$(var system_run_mode)"/>
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>

<!-- parameter paths for common -->
<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
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