fix Substition using context

Signed-off-by: Kento Yabuuchi <[email protected]>
tier4 · Aug 26, 2024 · 447f326 · 447f326
1 parent dd5d1c6
commit 447f326
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
@@ -92,7 +92,7 @@ def load_yaml(yaml_file_path):
     path_dictionary = generate_launch_dictionary()
 
     base_parameters = {}
-    base_parameters["host_ip"] = LaunchConfiguration("host_ip")
+    base_parameters["host_ip"] = LaunchConfiguration("host_ip").perform(context)
     base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration(
         "vehicle_mirror_param_file"
     ).perform(context)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -128,8 +128,10 @@ def create_parameter_dict(*args):
 
     # There is an issue where hw_monitor crashes due to data race,
     # so the monitor will now only be launched when explicitly specified with a launch command.
-    launch_hw_monitor: bool = context.perform_substitution(LaunchConfiguration("launch_hw_monitor"))
-    launch_driver: bool = context.perform_substitution(LaunchConfiguration("launch_driver"))
+    launch_hw_monitor: bool = IfCondition(LaunchConfiguration("launch_hw_monitor")).evaluate(
+        context
+    )
+    launch_driver: bool = IfCondition(LaunchConfiguration("launch_driver")).evaluate(context)
     if launch_hw_monitor and launch_driver:
         nodes.append(
             ComposableNode(