fix: config for awsim (#289)

* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Sep 17, 2024 · b48f5f9 · b48f5f9
1 parent 3a9adac
commit b48f5f9
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Showing 3 changed files with 14 additions and 9 deletions.
diff --git a/aip_x1_launch/config/gnss_poser.param.yaml b/aip_x1_launch/config/gnss_poser.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    gnss_base_frame: gnss_link
+    map_frame: map
+    buff_epoch: 1
+    use_gnss_ins_orientation: false
+    gnss_pose_pub_method: 0         # 0: Median, 1: Average
diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml
@@ -1,10 +1,9 @@
 <launch>
 
-  <arg name="use_gnss" default="false" />
   <arg name="launch_driver" default="true" />
 
-  <group if="$(var use_gnss)">
-    <push-ros-namespace namespace="gnss"/>
+  <group>
+    <push-ros-namespace namespace="gnss" />
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="1.0">
@@ -14,14 +13,13 @@
 
     <!-- NavSatFix to MGRS Pose -->
     <include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
+      <arg name="param_file" value="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
       <arg name="input_topic_fix" value="ublox/nav_sat_fix" />
-      <arg name="input_topic_navpvt" value="ublox/navpvt" />
-
+      <!-- Required if use_gnss_ins_orientation in gnss_poser.param.yaml is true -->
+      <!-- <arg name="input_topic_orientation" value="" /> -->
       <arg name="output_topic_gnss_pose" value="pose" />
       <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
       <arg name="output_topic_gnss_fixed" value="fixed" />
-
-      <arg name="use_ublox_receiver" value="true" />
     </include>
 
   </group>

diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
@@ -12,7 +12,6 @@
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_awsim" value="$(var use_awsim)"/>
     </include>
 
     <!-- IMU Driver -->
@@ -21,7 +20,7 @@
     </include>
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" unless="$(var use_awsim)">
+    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" if="$(var use_awsim)" >
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>