From efb3773402a21da3b0fc488b385fa20fbbf9e524 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Sat, 5 Oct 2024 17:16:43 +0900
Subject: [PATCH] fix: pass launch_driver argument (#325)

* fix: pass launch_driver argument

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>

* ci(pre-commit): autofix

---------

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 aip_x2_gen2_launch/launch/hesai_OT128.launch.xml          | 2 +-
 aip_x2_gen2_launch/launch/hesai_QT128.launch.xml          | 2 +-
 aip_x2_gen2_launch/launch/nebula_node_container.launch.py | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index 1c5a2707..cfc4f138 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -32,7 +32,7 @@
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
   <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
-    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="launch_hw" value="$(var launch_driver)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>
     <arg name="frame_id" value="$(var sensor_frame)"/>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 4a29e9c0..9f48bfae 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -33,7 +33,7 @@
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
   <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
-    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="launch_hw" value="$(var launch_driver)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>
     <arg name="frame_id" value="$(var sensor_frame)"/>
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
index 3e863232..49ec3779 100644
--- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -119,8 +119,8 @@ def str2vector(string):
                     "ptp_domain",
                     "diag_span",
                     "calibration_file",
+                    "launch_hw",
                 ),
-                "launch_hw": True,
                 "retry_hw": True,
             },
         ],
@@ -318,7 +318,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     add_launch_arg("sensor_model", description="sensor model name")
     add_launch_arg("config_file", "", description="sensor configuration file")
-    add_launch_arg("launch_driver", "True", "do launch driver")
+    add_launch_arg("launch_hw", "True", "do launch driver")
     add_launch_arg("setup_sensor", "True", "configure sensor")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
     add_launch_arg(