feat(system_launch): add group tag around include (autowarefoundation…

…#361) Signed-off-by: h-ohta <hiroki.ota@tier4.jp>
TomohitoAndo · Jul 12, 2022 · a5578cb · a5578cb
1 parent 0ba079a
commit a5578cb
Showing 1 changed file with 22 additions and 16 deletions.
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -23,26 +23,32 @@
     </group>
 
     <!-- State Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
-    <include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+      <include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+      </include>
+    </group>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
-    <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-      <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
-      <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
-      <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
-      <arg name="use_emergency_hold" value="false" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
+      <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+        <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+        <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
+        <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
+        <arg name="use_emergency_hold" value="false" />
+      </include>
+    </group>
 
     <!-- Emergency Handler -->
-    <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
-      <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
-    </include>
+    <group>
+      <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
+      </include>
+    </group>
 
     <!-- Dummy Diag Publisher -->
     <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">