From 7e9b4dedd71a88472233e9f6f20d16bd7e54baf2 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Thu, 28 Sep 2023 16:51:01 +0900
Subject: [PATCH] feat(pose_twist_estimator): automatically initialize pose
 only with gnss (#5115)

---
 .../pose_twist_estimator.launch.xml           | 20 ++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
index abbb15c797d19..7733b4e3117a1 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -20,7 +20,9 @@
         <arg name="config_file" value="$(var pose_initializer_param_path)"/>
         <arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
       </include>
-      <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      <group if="$(var gnss_enabled)">
+        <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      </group>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
     </group>
   </group>
@@ -42,7 +44,9 @@
         <arg name="config_file" value="$(var pose_initializer_param_path)"/>
         <arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
       </include>
-      <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      <group if="$(var gnss_enabled)">
+        <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      </group>
     </group>
   </group>
 
@@ -74,7 +78,9 @@
         <arg name="config_file" value="$(var pose_initializer_param_path)"/>
         <arg name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance"/>
       </include>
-      <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      <group if="$(var gnss_enabled)">
+        <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      </group>
     </group>
   </group>
 
@@ -99,7 +105,9 @@
         <arg name="config_file" value="$(var pose_initializer_param_path)"/>
         <arg name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance"/>
       </include>
-      <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      <group if="$(var gnss_enabled)">
+        <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      </group>
     </group>
   </group>
 
@@ -131,7 +139,9 @@
         <arg name="config_file" value="$(var pose_initializer_param_path)"/>
         <arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
       </include>
-      <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      <group if="$(var gnss_enabled)">
+        <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      </group>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
     </group>
   </group>