fix(tier4_system_launch): add group tag (tier4#1240)

* fix(tier4_system_launch): add group tag Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp> * move arg into group Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
boyali · Oct 3, 2022 · 93a627c · 93a627c
1 parent 35eb4a8
commit 93a627c
Showing 1 changed file with 30 additions and 24 deletions.
diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
@@ -23,33 +23,39 @@
     </group>
 
     <!-- State Monitor -->
-    <let name="config_file" value="$(find-pkg-share ad_service_state_monitor)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let
-      name="config_file"
-      value="$(find-pkg-share ad_service_state_monitor)/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="$(find-pkg-share ad_service_state_monitor)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let
+        name="config_file"
+        value="$(find-pkg-share ad_service_state_monitor)/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="$(find-pkg-share system_error_monitor)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let
-      name="config_file"
-      value="$(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>
+      <let name="config_file" value="$(find-pkg-share system_error_monitor)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let
+        name="config_file"
+        value="$(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>
 
     <!-- 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>