From 1d959d1de5e9bdeeaaf7d8a1ab58b8e2b1c8e443 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Mon, 23 Oct 2023 14:46:27 +0900 Subject: [PATCH] Revert "[TMP] run behavior_velocity_planner with gdb launch prefix" This reverts commit 65086d16dd7638cbf37c52e4f6b320dbead0e8c3. --- .../behavior_planning/behavior_planning.launch.py | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 7acf69ec1fed6..62d4c5b7188ee 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -24,7 +24,6 @@ from launch.substitutions import LaunchConfiguration from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer -from launch_ros.actions import Node from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare import yaml @@ -151,10 +150,9 @@ def launch_setup(context, *args, **kwargs): with open(path) as f: behavior_velocity_planner_params.update(yaml.safe_load(f)["/**"]["ros__parameters"]) - behavior_velocity_planner_component = Node( + behavior_velocity_planner_component = ComposableNode( package="behavior_velocity_planner", - # plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode", - executable="behavior_velocity_planner_node", + plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode", name="behavior_velocity_planner", namespace="", remappings=[ @@ -204,8 +202,7 @@ def launch_setup(context, *args, **kwargs): motion_velocity_smoother_param, behavior_velocity_smoother_type_param, ], - # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - prefix="konsole -e gdb -ex run --args", + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) container = ComposableNodeContainer( @@ -215,7 +212,7 @@ def launch_setup(context, *args, **kwargs): executable=LaunchConfiguration("container_executable"), composable_node_descriptions=[ behavior_path_planner_component, - # behavior_velocity_planner_component, + behavior_velocity_planner_component, glog_component, ], output="screen", @@ -264,7 +261,6 @@ def launch_setup(context, *args, **kwargs): group = GroupAction( [ container, - behavior_velocity_planner_component, load_compare_map, load_vector_map_inside_area_filter, ]