From b48f5f9d7c3fc34c913060862d3b0d519892413b Mon Sep 17 00:00:00 2001
From: Autumn60 <37181352+Autumn60@users.noreply.github.com>
Date: Thu, 29 Aug 2024 10:03:06 +0900
Subject: [PATCH] fix: config for awsim (#289)

* delete unnecessary arg passing

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* fix gnss_poser param

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* Adjust gnss launching condition

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* fix invalid tag usage

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* ci(pre-commit): autofix

---------

Signed-off-by: Autumn60 <harada.akiro@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 aip_x1_launch/config/gnss_poser.param.yaml |  8 ++++++++
 aip_x1_launch/launch/gnss.launch.xml       | 12 +++++-------
 aip_x1_launch/launch/sensing.launch.xml    |  3 +--
 3 files changed, 14 insertions(+), 9 deletions(-)
 create mode 100644 aip_x1_launch/config/gnss_poser.param.yaml

diff --git a/aip_x1_launch/config/gnss_poser.param.yaml b/aip_x1_launch/config/gnss_poser.param.yaml
new file mode 100644
index 00000000..5d4e8fda
--- /dev/null
+++ 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
index c99d0afb..27483b46 100644
--- 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
index 0f23a733..775a8566 100644
--- 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>