From 727a667a9041c0be89dd3bec0b3aeb7a0dd50be4 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Fri, 2 Feb 2024 01:15:08 +0900
Subject: [PATCH] feat(tier4_map_launch): add launch_pointcloud_map_loader

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml                   | 5 ++++-
 .../launch/components/tier4_map_component.launch.xml         | 2 ++
 autoware_launch/launch/planning_simulator.launch.xml         | 2 ++
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 7de7741be2..3d9a500621 100644
--- 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
index 455b848c63..cd61432495 100644
--- 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
index d19c7308f0..d0eac203e8 100644
--- 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)"/>