From 4037478eb52b40f0fd7f448dcb727e1b88f3a282 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Fri, 29 Mar 2024 09:34:24 +0900
Subject: [PATCH] chore(tier4_system_launch): add option to select graph path
 depending on running mode (#6700)

chore(tier4_system_launch): add option of using graph path for simulation

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
---
 launch/tier4_system_launch/launch/system.launch.xml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
index 06fe448c1d215..b70b4fb24d892 100644
--- 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>