autoware-on-linux xx1 ver-20240108

sykwer · Jan 8, 2024 · 89b7bbc · 89b7bbc
1 parent c7bf8f3
commit 89b7bbc
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
@@ -46,12 +46,32 @@ def add_launch_arg(name: str, default_value=None):
         output="screen",
     )
 
+    pointcloud_container2 = ComposableNodeContainer(
+        name="pointcloud_container2",
+        namespace="/",
+        package="rclcpp_component_container_callback_isolated",
+        executable="component_container_callback_isolated",
+        composable_node_descriptions=[],
+        output="screen",
+    )
+
+    planning_container = ComposableNodeContainer(
+        name="planning_container",
+        namespace="/",
+        package="rclcpp_component_container_callback_isolated",
+        executable="component_container_callback_isolated",
+        composable_node_descriptions=[],
+        output="screen",
+    )
+
     return LaunchDescription(
         [
             add_launch_arg("use_multithread", "false"),
             add_launch_arg("container_name", "pointcloud_container"),
             set_container_executable,
             set_container_mt_executable,
             pointcloud_container,
+            pointcloud_container2,
+            planning_container,
         ]
     )