Setting use_sim_time for various nodes

Signed-off-by: Paweł Lech <[email protected]>
tier4 · Dec 13, 2023 · 82d1c1e · 82d1c1e
1 parent 5274218
commit 82d1c1e
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/external/concealer/src/field_operator_application.cpp b/external/concealer/src/field_operator_application.cpp
@@ -20,7 +20,7 @@
 namespace concealer
 {
 FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
-: rclcpp::Node("concealer_user", "simulation", rclcpp::NodeOptions().use_global_arguments(false)),
+: rclcpp::Node("concealer_user", "simulation", rclcpp::NodeOptions().use_global_arguments(true)),
   process_id(pid)
 {
 }

diff --git a/simulation/simple_sensor_simulator/src/simple_sensor_simulator_node.cpp b/simulation/simple_sensor_simulator/src/simple_sensor_simulator_node.cpp
@@ -21,7 +21,7 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions options;
-  auto component = std::make_shared<simple_sensor_simulator::ScenarioSimulator>(options);
+  auto component = std::make_shared<simple_sensor_simulator::ScenarioSimulator>(options.use_global_arguments(true));
   rclcpp::spin(component);
   rclcpp::shutdown();
   return 0;

diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py
@@ -171,7 +171,7 @@ def description():
             namespace="simulation",
             output="screen",
             on_exit=ShutdownOnce(),
-            parameters=[{"port": port}]+make_vehicle_parameters()+[{"use_sim_time": True}],
+            parameters=[{"port": port, "use_sim_time": True}]+make_vehicle_parameters(),
             # parameters=[{"port": port}]+make_vehicle_parameters(),
             condition=IfCondition(launch_simple_sensor_simulator),
         ),
@@ -185,7 +185,7 @@ def description():
             executable="openscenario_interpreter_node",
             namespace="simulation",
             output="screen",
-            parameters=make_parameters(),
+            parameters=[{"use_sim_time": True}]+make_parameters(),
             on_exit=ShutdownOnce(),
         ),
         Node(