From ae59407b51fe4368a7d3ebb1f5bd90a49f82d0ba Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 24 Sep 2024 18:27:47 +0900
Subject: [PATCH] chore(nebula_node_container): make launchers work with Nebula
 v0.2.0

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
---
 .../launch/nebula_node_container.launch.py    | 45 ++++---------------
 1 file changed, 8 insertions(+), 37 deletions(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index e885d92e..17dcf0f6 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -109,16 +109,18 @@ def create_parameter_dict(*args):
     nodes.append(
         ComposableNode(
             package="nebula_ros",
-            plugin=sensor_make + "DriverRosWrapper",
-            name=sensor_make.lower() + "_driver_ros_wrapper_node",
+            plugin=sensor_make + "RosWrapper",
+            name=sensor_make.lower() + "_ros_wrapper_node",
             parameters=[
                 {
                     "calibration_file": sensor_calib_fp,
                     "sensor_model": sensor_model,
+                    "launch_hw": LaunchConfiguration("launch_driver"),
                     **create_parameter_dict(
                         "host_ip",
                         "sensor_ip",
                         "data_port",
+                        "gnss_port",
                         "return_mode",
                         "min_range",
                         "max_range",
@@ -127,6 +129,9 @@ def create_parameter_dict(*args):
                         "cloud_min_angle",
                         "cloud_max_angle",
                         "dual_return_distance_threshold",
+                        "rotation_speed",
+                        "packet_mtu_size",
+                        "setup_sensor",
                     ),
                 },
             ],
@@ -235,41 +240,7 @@ def create_parameter_dict(*args):
         output="both",
     )
 
-    driver_component = ComposableNode(
-        package="nebula_ros",
-        plugin=sensor_make + "HwInterfaceRosWrapper",
-        # node is created in a global context, need to avoid name clash
-        name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
-        parameters=[
-            {
-                "sensor_model": sensor_model,
-                "calibration_file": sensor_calib_fp,
-                **create_parameter_dict(
-                    "sensor_ip",
-                    "host_ip",
-                    "scan_phase",
-                    "return_mode",
-                    "frame_id",
-                    "rotation_speed",
-                    "data_port",
-                    "gnss_port",
-                    "cloud_min_angle",
-                    "cloud_max_angle",
-                    "packet_mtu_size",
-                    "dual_return_distance_threshold",
-                    "setup_sensor",
-                ),
-            }
-        ],
-    )
-
-    driver_component_loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("launch_driver")),
-    )
-
-    return [container, driver_component_loader]
+    return [container]
 
 
 def generate_launch_description():