From a0a87ae81c954a0645cbdfef2ec81f6f7d7aceef Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 12 Oct 2023 14:43:16 +0900 Subject: [PATCH] chore(aip_x2_launch): add blockage diagnostics enable option (#177) chore: add blockage_diag enable option Signed-off-by: badai-nguyen --- aip_x2_launch/launch/pandar_node_container.launch.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py index 437e2dff..4c87d76c 100644 --- a/aip_x2_launch/launch/pandar_node_container.launch.py +++ b/aip_x2_launch/launch/pandar_node_container.launch.py @@ -287,6 +287,7 @@ def create_parameter_dict(*args): blockage_diag_loader = LoadComposableNodes( composable_node_descriptions=[blockage_diag_component], target_container=container, + condition=launch.conditions.IfCondition(LaunchConfiguration("enable_blockage_diag")), ) return [ @@ -334,6 +335,7 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("min_azimuth_deg", "135.0") add_launch_arg("max_azimuth_deg", "225.0") + add_launch_arg("enable_blockage_diag", "true") set_container_executable = SetLaunchConfiguration( "container_executable", "component_container",