fix(autoware_launch): remove unused relay node (autowarefoundation#761)

* fix(autoware_launch): remove unused relay node Signed-off-by: tomoya.kimura <[email protected]> * fix Signed-off-by: tomoya.kimura <[email protected]> --------- Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Feb 1, 2024 · f1cf5b5 · f1cf5b5
1 parent 731d62d
commit f1cf5b5
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diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -128,11 +128,6 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
       <arg name="data_path" value="$(var data_path)"/>
     </include>
-
-    <!-- XX1 Traffic Light Perception Relay-->
-    <arg name="traffic_light_original_name" default="/perception/traffic_light_recognition/camera6/traffic_signals"/>
-    <arg name="traffic_light_topic_name" default="/perception/traffic_light_recognition/traffic_signals"/>
-    <node pkg="topic_tools" exec="relay" name="traffic_light_relay" args="$(var traffic_light_original_name) $(var traffic_light_topic_name)"/>
   </group>
 
   <!-- Planning -->

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -60,14 +60,6 @@
   <executable cmd="$(var camera4_pub)" name="camera4" shell="true"/>
   <executable cmd="$(var camera5_pub)" name="camera5" shell="true"/>
 
-  <!-- XX1 Traffic Light Image/Info Relay-->
-  <arg name="traffic_light_image_original_name" default="/sensing/camera/traffic_light/image_raw"/>
-  <arg name="traffic_light_image_topic_name" default="/sensing/camera/camera6/image_raw"/>
-  <arg name="traffic_light_info_original_name" default="/sensing/camera/traffic_light/camera_info"/>
-  <arg name="traffic_light_info_topic_name" default="/sensing/camera/camera6/camera_info"/>
-  <node pkg="topic_tools" exec="relay" name="traffic_light_image_relay" args="$(var traffic_light_image_original_name) $(var traffic_light_image_topic_name)"/>
-  <node pkg="topic_tools" exec="relay" name="traffic_light_info_relay" args="$(var traffic_light_info_original_name) $(var traffic_light_info_topic_name)"/>
-
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->