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feat: nebula_hw_monitor is not started except when simulation is running
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Signed-off-by: 1222-takeshi <[email protected]>
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1222-takeshi committed Jul 19, 2024
1 parent 41271bb commit 8c5582d
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Showing 3 changed files with 3 additions and 1 deletion.
1 change: 1 addition & 0 deletions aip_x1_launch/launch/lidar.launch.xml
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Expand Up @@ -41,6 +41,7 @@
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>

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Expand Up @@ -152,6 +152,7 @@ def create_parameter_dict(*args):
),
},
],
condition=IfCondition(LaunchConfiguration("launch_driver")),
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
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2 changes: 1 addition & 1 deletion common_sensor_launch/launch/velodyne_VLP16.launch.xml
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Expand Up @@ -37,7 +37,7 @@
<arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="false"/>
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="vertical_bins" value="$(var vertical_bins)"/>
<arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
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