Reduce the number of activation nodes for visualization, etc.

tier4 · Dec 1, 2023 · c371f08 · c371f08
1 parent 0eb8a8d
commit c371f08
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
@@ -40,14 +40,14 @@
       <param from="$(var eagleye_param_path)"/>
       <param name="yaml_file" value="$(var eagleye_param_path)"/>
     </node>
-    <node pkg="eagleye_rt" name="yaw_rate_offset_node_1st" exec="yaw_rate_offset" args="1st">
+    <!-- <node pkg="eagleye_rt" name="yaw_rate_offset_node_1st" exec="yaw_rate_offset" args="1st">
       <param from="$(var eagleye_param_path)"/>
       <param name="yaml_file" value="$(var eagleye_param_path)"/>
     </node>
     <node pkg="eagleye_rt" name="yaw_rate_offset_node_2nd" exec="yaw_rate_offset" args="2nd">
       <param from="$(var eagleye_param_path)"/>
       <param name="yaml_file" value="$(var eagleye_param_path)"/>
-    </node>
+    </node> -->
     <node pkg="eagleye_rt" name="heading_node_1st" exec="heading" args="1st" if="$(eval &quot;'$(var use_rtk_heading)'=='false'&quot;)">
       <param from="$(var eagleye_param_path)"/>
       <param name="yaml_file" value="$(var eagleye_param_path)"/>
@@ -100,7 +100,7 @@
       <param name="yaml_file" value="$(var eagleye_param_path)"/>
     </node>
     <group if="$(var use_eagleye_pose)">
-      <node pkg="eagleye_rt" name="position_node" exec="position" if="$(eval &quot;'$(var use_rtk_dead_reckoning)'=='false'&quot;)">
+      <!-- <node pkg="eagleye_rt" name="position_node" exec="position" if="$(eval &quot;'$(var use_rtk_dead_reckoning)'=='false'&quot;)">
         <param from="$(var eagleye_param_path)"/>
         <param name="yaml_file" value="$(var eagleye_param_path)"/>
       </node>
@@ -141,13 +141,13 @@
             <param name="yaml_file" value="$(var eagleye_param_path)"/>
             <remap from="gnss/fix" to="/sensing/gnss/septentrio/nav_sat_fix"/>
             <remap from="gnss/reliable_rtkfix" to="/sensing/gnss/septentrio/reliable_nav_sat_fix"/>
-      </node>
+      </node> -->
     </group>
 
-    <node pkg="eagleye_rt" name="monitor" exec="monitor">
+    <!-- <node pkg="eagleye_rt" name="monitor" exec="monitor">
       <param from="$(var eagleye_param_path)"/>
       <param name="yaml_file" value="$(var eagleye_param_path)"/>
-    </node>
+    </node> -->
     <include file="$(var directory_with_related_launches)/gnss_converter.launch.xml">
       <arg name="config_path" value="$(var eagleye_param_path)"/>
     </include>

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/fix2pose.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/fix2pose.launch.xml
@@ -3,8 +3,8 @@
   <arg name="output_pose_with_cov_name" default="/localization/pose_estimator/pose_with_covariance"/>
   <node pkg="eagleye_fix2pose" name="fix2pose_node" exec="fix2pose">
     <!-- /eagleye/fix or  /GNSS/fix(GNSS pose only mode)-->
-    <!-- <remap from="eagleye/fix" to="/sensing/gnss/septentrio/nav_sat_fix"/> -->
-    <remap from="eagleye/fix" to="/sensing/gnss/septentrio/reliable_nav_sat_fix"/>
+    <remap from="eagleye/fix" to="/sensing/gnss/septentrio/nav_sat_fix"/>
+    <!-- <remap from="eagleye/fix" to="/sensing/gnss/septentrio/reliable_nav_sat_fix"/> -->
     <remap from="eagleye/pose_with_covariance" to="$(var output_pose_with_cov_name)"/>
     <!-- plane rectangular coordinate number -->
     <param name="plane" value="7"/>