launch hw_monitor only when both launch_driver&launch_monitor are true

Signed-off-by: Kento Yabuuchi <[email protected]>
tier4 · Aug 26, 2024 · dd5d1c6 · dd5d1c6
1 parent 098b3ac
commit dd5d1c6
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Showing 3 changed files with 10 additions and 6 deletions.
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -2,7 +2,6 @@
 
   <!-- Params -->
   <arg name="launch_driver" default="true"/>
-
   <!-- There is an issue where hw_monitor crashes due to data race, 
   so the monitor will now only be launched when explicitly specified with a launch command. -->
   <arg name="launch_hw_monitor" default="false"/>

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -21,7 +21,7 @@
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
-    <arg name="launch_hw_monitor" value="true"/>
+    <arg name="launch_hw_monitor" value="$(var launch_hw_monitor)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>
     <arg name="frame_id" value="$(var sensor_frame)"/>

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -126,9 +126,11 @@ def create_parameter_dict(*args):
         )
     )
 
-    # There is an issue where hw_monitor crashes due to data race, 
+    # There is an issue where hw_monitor crashes due to data race,
     # so the monitor will now only be launched when explicitly specified with a launch command.
-    if LaunchConfiguration("launch_hw_monitor").perform(context):
+    launch_hw_monitor: bool = context.perform_substitution(LaunchConfiguration("launch_hw_monitor"))
+    launch_driver: bool = context.perform_substitution(LaunchConfiguration("launch_driver"))
+    if launch_hw_monitor and launch_driver:
         nodes.append(
             ComposableNode(
                 package="nebula_ros",
@@ -155,7 +157,9 @@ def create_parameter_dict(*args):
                         ),
                     },
                 ],
-                extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
             )
         )
 
@@ -339,7 +343,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "launch_hw_monitor",
         "False",
-        "do launch hardware monitor. Due to an issue where hw_monitor crashes due to data conflicts, the monitor in launched only when explicitly specified")
+        "do launch hardware monitor. Due to an issue where hw_monitor crashes due to data conflicts, the monitor in launched only when explicitly specified",
+    )
     add_launch_arg("setup_sensor", "True", "configure sensor")
     add_launch_arg("retry_hw", "false", "retry hw")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")