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fix(tier4_localization_launch): add gnss_enabled arg #6018

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SakodaShintaro
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@SakodaShintaro SakodaShintaro commented Jan 5, 2024

Description

The argument of gnss_enabled can now be given from outside of autoware.universe.

Since there may be vehicles that do not have GNSS module, gnss_enabled should be able to be set from an external launch.

Tests performed

It has been confirmed that the logging_simulator runs with the same accuracy as before on AWSIM data with GT.

  • NDT
    • Before : 0.046 [m]
    • After : 0.044 [m]
  • artag
    • Before : 0.461 [m]
    • After : 0.461 [m]

Effects on system behavior

Not applicable.

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Signed-off-by: Shintaro Sakoda <[email protected]>
Signed-off-by: Shintaro Sakoda <[email protected]>
@github-actions github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jan 5, 2024
@SakodaShintaro SakodaShintaro changed the title fix(tier4_localization_launch): Added gnss_enabled arg fix(tier4_localization_launch): add gnss_enabled arg Jan 5, 2024
@SakodaShintaro SakodaShintaro marked this pull request as ready for review January 5, 2024 09:10
@SakodaShintaro
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As pointed out by @YamatoAndo san, in order to make the handling of arguments in the launch file consistent, it has been changed so that the arg is loaded implicitly.
2e355db

Signed-off-by: Shintaro Sakoda <[email protected]>
@SakodaShintaro SakodaShintaro marked this pull request as draft January 10, 2024 02:42
@SakodaShintaro
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The issue that gnss_enabled cannot be set from autoware_launch was resolved by the pull request below, so this pull request is closed.
#6144

@SakodaShintaro SakodaShintaro deleted the fix/add_gnss_enabled_arg branch June 18, 2024 08:56
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2 participants