fixed laserscan based launcher

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
autowarefoundation · Mar 11, 2023 · 41e878a · 41e878a
1 parent a3c78d0
commit 41e878a
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Showing 2 changed files with 16 additions and 18 deletions.
diff --git a/..._perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py b/..._perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py
@@ -27,9 +27,15 @@
 
 def launch_setup(context, *args, **kwargs):
     # load parameter files
-    param_file = LaunchConfiguration("param_file").parse(context)
+    param_file = LaunchConfiguration("param_file").perform(context)
     with open(param_file, "r") as f:
         laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"]
+    laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool(
+        LaunchConfiguration("input_obstacle_pointcloud").perform(context)
+    )
+    laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool(
+        LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context)
+    )
 
     composable_nodes = [
         ComposableNode(
@@ -79,14 +85,7 @@ def launch_setup(context, *args, **kwargs):
                 ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
                 ("~/output/occupancy_grid_map", LaunchConfiguration("output")),
             ],
-            parameters=[
-                {
-                    "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"),
-                    "input_obstacle_and_raw_pointcloud": LaunchConfiguration(
-                        "input_obstacle_and_raw_pointcloud"
-                    ),
-                }.update(laserscan_based_occupancy_grid_map_node_params)
-            ],
+            parameters=[laserscan_based_occupancy_grid_map_node_params],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
     ]

diff --git a/...tion/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/...tion/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -27,9 +27,15 @@
 
 def launch_setup(context, *args, **kwargs):
     # load parameter files
-    param_file = LaunchConfiguration("param_file").parse(context)
+    param_file = LaunchConfiguration("param_file").perform(context)
     with open(param_file, "r") as f:
         laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"]
+    laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool(
+        LaunchConfiguration("input_obstacle_pointcloud").perform(context)
+    )
+    laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool(
+        LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context)
+    )
 
     composable_nodes = [
         ComposableNode(
@@ -79,14 +85,7 @@ def launch_setup(context, *args, **kwargs):
                 ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
                 ("~/output/occupancy_grid_map", LaunchConfiguration("output")),
             ],
-            parameters=[
-                {
-                    "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"),
-                    "input_obstacle_and_raw_pointcloud": LaunchConfiguration(
-                        "input_obstacle_and_raw_pointcloud"
-                    ),
-                }.update(laserscan_based_occupancy_grid_map_node_params)
-            ],
+            parameters=[laserscan_based_occupancy_grid_map_node_params],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
     ]