update localization launch #2131
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
JonSmet
requested changes
Aug 1, 2023
carma/launch/carma_src.launch.py
Outdated
| @@ -140,6 +140,9 @@ def generate_launch_description(): | |||
| vector_map_file = LaunchConfiguration('vector_map_file') | |||
| declare_vector_map_file = DeclareLaunchArgument(name='vector_map_file', default_value='/opt/carma/maps/vector_map.osm') | |||
|
|
|||
| simulation_mode = LaunchConfiguration('simulation') | |||
There was a problem hiding this comment.
Can we change this arg from simulation to simulation_arg as well?
carma/launch/localization.launch.py
Outdated
| subsystem_controller | ||
| ]) | ||
|
|
||
| if simulation_mode is False: |
There was a problem hiding this comment.
I'm not sure whether we are actually able to use LaunchArguments directly in python conditional statements like this. I think the ROS2 launch approach for this would be to use IfConditional() instead. To do this, you can add:
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
...
carma_port_drayage_plugin_container = ComposableNodeContainer(
condition=IfCondition(PythonExpression(['not ', simulation_mode])), # Nodes in this container will only be launched if 'simulation_mode' evaluates to 'False'
...
JonSmet
approved these changes
Aug 1, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
PR Details
This PR removes the localization launch file and updates the ros2 launch file with the required simulation mode launch argument.
Description
Related GitHub Issue
Related Jira Key
Motivation and Context
How Has This Been Tested?
Types of changes
Checklist: