Skip to content

Commit

Permalink
feat(concatenation): separate concatenate node from other preprocessi…
Browse files Browse the repository at this point in the history
…ng nodes' container
  • Loading branch information
kminoda committed Jan 15, 2024
1 parent cdb212b commit 9e4d849
Showing 1 changed file with 1 addition and 8 deletions.
9 changes: 1 addition & 8 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -57,19 +57,12 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

glog_component = ComposableNode(
package="glog_component",
plugin="GlogComponent",
name="glog_component",
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[glog_component],
condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)
Expand All @@ -82,7 +75,7 @@ def launch_setup(context, *args, **kwargs):

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component, glog_component],
composable_node_descriptions=[concat_component],
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)
Expand Down

0 comments on commit 9e4d849

Please sign in to comment.