From 89b7bbc57fa927a43a147439d4e1d2c06042e23f Mon Sep 17 00:00:00 2001 From: sykwer Date: Mon, 8 Jan 2024 15:19:05 +0900 Subject: [PATCH] autoware-on-linux xx1 ver-20240108 --- .../launch/pointcloud_container.launch.py | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index b0bed5dcb2..53534d51d0 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -46,6 +46,24 @@ def add_launch_arg(name: str, default_value=None): output="screen", ) + pointcloud_container2 = ComposableNodeContainer( + name="pointcloud_container2", + namespace="/", + package="rclcpp_component_container_callback_isolated", + executable="component_container_callback_isolated", + composable_node_descriptions=[], + output="screen", + ) + + planning_container = ComposableNodeContainer( + name="planning_container", + namespace="/", + package="rclcpp_component_container_callback_isolated", + executable="component_container_callback_isolated", + composable_node_descriptions=[], + output="screen", + ) + return LaunchDescription( [ add_launch_arg("use_multithread", "false"), @@ -53,5 +71,7 @@ def add_launch_arg(name: str, default_value=None): set_container_executable, set_container_mt_executable, pointcloud_container, + pointcloud_container2, + planning_container, ] )