feat(tier4_map_launch): add launch_pointcloud_map_loader

Signed-off-by: kosuke55 <[email protected]>
tier4 · Feb 1, 2024 · 727a667 · 727a667
1 parent 14d144c
commit 727a667
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -32,6 +32,7 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="launch_pointcloud_map_loader" default="true" description="launch pointcloud map loader"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
@@ -82,7 +83,9 @@
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
+      <arg name="launch_pointcloud_map_loader" value="$(var launch_pointcloud_map_loader)"/>
+    </include>
   </group>
 
   <!-- Sensing -->

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -9,5 +9,7 @@
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
     <arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
+
+    <arg name="launch_pointcloud_map_loader" value="$(var launch_pointcloud_map_loader)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -13,6 +13,7 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="launch_pointcloud_map_loader" default="true" description="launch pointcloud map loader"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
@@ -61,6 +62,7 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <arg name="launch_pointcloud_map_loader" value="$(var launch_pointcloud_map_loader)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>