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fix(tier4_localization_launch): add gnss_enabled arg #6018

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fix(tier4_localization_launch): add gnss_enabled arg #6018

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516c358
Added gnss_enabled arg
SakodaShintaro Jan 5, 2024
95e223a
Fixed gnss_enabled in artag
SakodaShintaro Jan 5, 2024
614f2c6
style(pre-commit): autofix
pre-commit-ci[bot] Jan 5, 2024
2e355db
Fixed explicit arg
SakodaShintaro Jan 5, 2024
fc3fd76
Add explicit declaration of arg
SakodaShintaro Jan 9, 2024
a3d617c
Merge branch 'main' into fix/add_gnss_enabled_arg
SakodaShintaro Jan 10, 2024
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1 change: 1 addition & 0 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<arg name="pose_source"/>
<arg name="twist_source"/>
<arg name="system_run_mode"/>
<arg name="gnss_enabled"/>

<arg name="crop_box_filter_measurement_range_param_path"/>
<arg name="voxel_grid_downsample_filter_param_path"/>
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13 changes: 6 additions & 7 deletions launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
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Expand Up @@ -2,6 +2,7 @@
<launch>
<let name="stop_check_enabled" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)" value="true"/>
<let name="stop_check_enabled" if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)" value="false"/>
<arg name="gnss_enabled"/>
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<!-- NDT Scan Matcher Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='ndt'&quot;)">
Expand All @@ -13,7 +14,7 @@
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="true"/>
<arg name="gnss_enabled" value="true"/>
<arg name="gnss_enabled" value="$(var gnss_enabled)"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
Expand All @@ -37,7 +38,7 @@
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="true"/>
<arg name="gnss_enabled" value="$(var gnss_enabled)"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="true"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
Expand Down Expand Up @@ -71,7 +72,7 @@
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="true"/>
<arg name="gnss_enabled" value="$(var gnss_enabled)"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
Expand All @@ -98,7 +99,7 @@
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="true"/>
<arg name="gnss_enabled" value="$(var gnss_enabled)"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
Expand Down Expand Up @@ -133,15 +134,13 @@
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="false"/>
<!-- artag currently only works when gnss_enabled is false -->
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<group if="$(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>
Expand Down
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