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fix(tier4_system_launch): add group tag #1240

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merged 3 commits into from
Jul 13, 2022
Merged

fix(tier4_system_launch): add group tag #1240

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3cdae4e
fix(tier4_system_launch): add group tag
Jul 5, 2022
5db1683
move arg into group
Jul 12, 2022
fa941eb
Merge branch 'main' into fix_system_launch
angry-crab Jul 13, 2022
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30 changes: 18 additions & 12 deletions launch/tier4_system_launch/launch/system.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,11 @@
value="$(find-pkg-share ad_service_state_monitor)/config/ad_service_state_monitor.planning_simulation.param.yaml"
if="$(eval "'$(var run_mode)'=='planning_simulation'")"
/>
<include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)"/>
</include>
<group>
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<include file="$(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="$(find-pkg-share system_error_monitor)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
Expand All @@ -40,16 +42,20 @@
value="$(find-pkg-share system_error_monitor)/config/system_error_monitor.planning_simulation.param.yaml"
if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"
/>
<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="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml"/>
<arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share tier4_system_launch)/config/diagnostic_aggregator/vehicle.param.yaml"/>
<arg name="use_emergency_hold" value="false"/>
</include>
<group>
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<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="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml"/>
<arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share tier4_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>
</group>
</launch>