From 8c5582decbc1d0bf36b1ac48d2e44ef5c8f254a9 Mon Sep 17 00:00:00 2001
From: 1222-takeshi <m.takeshi1995@gmail.com>
Date: Fri, 19 Jul 2024 14:09:19 +0900
Subject: [PATCH] feat: nebula_hw_monitor is not started except when simulation
 is running

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>
---
 aip_x1_launch/launch/lidar.launch.xml                       | 1 +
 common_sensor_launch/launch/nebula_node_container.launch.py | 1 +
 common_sensor_launch/launch/velodyne_VLP16.launch.xml       | 2 +-
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index dce0a58a..781c360d 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -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>
 
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 1990f695..cd661bab 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -152,6 +152,7 @@ def create_parameter_dict(*args):
                     ),
                 },
             ],
+            condition=IfCondition(LaunchConfiguration("launch_driver")),
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index a105b0a2..4a6cd6c1 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -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)"/>