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fix(common_sensor_launch): remove duplicate code #336

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merged 3 commits into from
Oct 31, 2024
Merged

fix(common_sensor_launch): remove duplicate code #336

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6ce6e7b
remove duplicate code
zusizusi Oct 28, 2024
cb2edfd
Merge branch 'tier4/universe' into tmp/v0.47/fix_hw_monitor
zusizusi Oct 29, 2024
cf4339c
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 29, 2024
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31 changes: 0 additions & 31 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -129,37 +129,6 @@ def create_parameter_dict(*args):
)
)

nodes.append(
ComposableNode(
package="nebula_ros",
plugin=sensor_make + "HwMonitorRosWrapper",
name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
parameters=[
{
"sensor_model": sensor_model,
**create_parameter_dict(
"return_mode",
"frame_id",
"scan_phase",
"sensor_ip",
"host_ip",
"data_port",
"gnss_port",
"packet_mtu_size",
"rotation_speed",
"cloud_min_angle",
"cloud_max_angle",
"diag_span",
"dual_return_distance_threshold",
"delay_monitor_ms",
),
},
],
condition=IfCondition(LaunchConfiguration("launch_driver")),
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)

# There is an issue where hw_monitor crashes due to data race,
# so the monitor will now only be launched when explicitly specified with a launch command.
launch_hw_monitor: bool = IfCondition(LaunchConfiguration("launch_hw_monitor")).evaluate(
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