chore(tier4_system_launch): add option to select graph path depending…

… on running mode (autowarefoundation#6700) chore(tier4_system_launch): add option of using graph path for simulation Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Mar 29, 2024 · 4037478 · 4037478
1 parent 2cd19f6
commit 4037478
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
@@ -26,6 +26,7 @@
   <arg name="mrm_handler_param_path" if="$(var use_diagnostic_graph)"/>
   <arg name="diagnostic_graph_aggregator_param_path" if="$(var use_diagnostic_graph)"/>
   <arg name="diagnostic_graph_aggregator_graph_path" if="$(var use_diagnostic_graph)"/>
+  <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" if="$(var use_diagnostic_graph)"/>
 
   <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
 
@@ -114,9 +115,12 @@
 
     <!-- Diagnostic Graph Aggregator -->
     <group if="$(var use_diagnostic_graph)">
+      <let name="graph_file" value="$(var diagnostic_graph_aggregator_graph_path)" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let name="graph_file" value="$(var diagnostic_graph_aggregator_graph_path)" if="$(eval &quot;'$(var run_mode)'=='logging_simulation'&quot;)"/>
+      <let name="graph_file" value="$(var diagnostic_graph_aggregator_planning_simulator_graph_path)" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
       <include file="$(find-pkg-share diagnostic_graph_aggregator)/launch/aggregator.launch.xml">
         <arg name="param_file" value="$(var diagnostic_graph_aggregator_param_path)"/>
-        <arg name="graph_file" value="$(var diagnostic_graph_aggregator_graph_path)"/>
+        <arg name="graph_file" value="$(var graph_file)"/>
       </include>
     </group>