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feat: add glog
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Signed-off-by: Shin-kyoto <[email protected]>
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Shin-kyoto committed Nov 9, 2023
1 parent 3850a5c commit ab26148
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Showing 8 changed files with 40 additions and 4 deletions.
8 changes: 7 additions & 1 deletion aip_x1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -67,9 +67,15 @@ def launch_setup(context, *args, **kwargs):
else LaunchConfiguration("container_name")
)

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

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
composable_node_descriptions=[concat_component, glog_component],
target_container=target_container,
)

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1 change: 1 addition & 0 deletions aip_x1_launch/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>compare_map_segmentation</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
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8 changes: 7 additions & 1 deletion aip_x2_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,15 @@ def launch_setup(context, *args, **kwargs):
else LaunchConfiguration("container_name")
)

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

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
composable_node_descriptions=[concat_component, glog_component],
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)
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1 change: 1 addition & 0 deletions aip_x2_launch/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@

<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>septentrio_gnss_driver</exec_depend>
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8 changes: 7 additions & 1 deletion aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -74,9 +74,15 @@ def launch_setup(context, *args, **kwargs):
else LaunchConfiguration("container_name")
)

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

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
composable_node_descriptions=[concat_component, glog_component],
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)
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1 change: 1 addition & 0 deletions aip_xx1_launch/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>pacmod3</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
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16 changes: 15 additions & 1 deletion common_sensor_launch/launch/nebula_node_container.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,14 @@ def create_parameter_dict(*args):
)
)

nodes.append(
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"),
Expand Down Expand Up @@ -238,14 +246,20 @@ def create_parameter_dict(*args):
],
)

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

target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("container_name")
)

driver_component_loader = LoadComposableNodes(
composable_node_descriptions=[driver_component],
composable_node_descriptions=[driver_component, glog_component],
target_container=target_container,
condition=IfCondition(LaunchConfiguration("launch_driver")),
)
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1 change: 1 addition & 0 deletions common_sensor_launch/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>nebula_sensor_driver</exec_depend>
<exec_depend>velodyne_monitor</exec_depend>

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