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feat(launch): Output message if module is not launched #36

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merged 1 commit into from
Oct 10, 2024
Merged

feat(launch): Output message if module is not launched #36

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25 changes: 11 additions & 14 deletions driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@
from launch.actions import IncludeLaunchDescription
from launch.actions import LogInfo
from launch.actions import OpaqueFunction
from launch.conditions import IfCondition
from launch.launch_description_sources import AnyLaunchDescriptionSource
from launch_ros.actions import Node
import yaml
Expand Down Expand Up @@ -219,6 +218,8 @@ def ensure_arg_compatibility(context: LaunchContext) -> list:

def launch_autoware(context: LaunchContext) -> list:
conf = context.launch_configurations
if conf["with_autoware"] != "true":
return [LogInfo(msg="Autoware is not launched. Only the evaluation node is launched.")]
autoware_launch_file = Path(
get_package_share_directory("autoware_launch"),
"launch",
Expand All @@ -240,7 +241,6 @@ def launch_autoware(context: LaunchContext) -> list:
autoware_launch_file.as_posix(),
),
launch_arguments=launch_args.items(),
condition=IfCondition(conf["with_autoware"]),
),
],
scoped=False,
Expand All @@ -250,19 +250,15 @@ def launch_autoware(context: LaunchContext) -> list:


def launch_map_height_fitter(context: LaunchContext) -> list:
if context.launch_configurations["localization"] != "true":
return [LogInfo(msg="map_height_fitter is not launched because localization is false")]

fitter_launch_file = Path(
get_package_share_directory("autoware_map_height_fitter"),
"launch",
"map_height_fitter.launch.xml",
)
return [
IncludeLaunchDescription(
AnyLaunchDescriptionSource(
fitter_launch_file.as_posix(),
),
condition=IfCondition(context.launch_configurations["localization"]),
),
]
return [IncludeLaunchDescription(AnyLaunchDescriptionSource(fitter_launch_file.as_posix()))]


def launch_evaluator_node(context: LaunchContext) -> list:
Expand Down Expand Up @@ -372,6 +368,10 @@ def launch_bag_recorder(context: LaunchContext) -> list:

def launch_topic_state_monitor(context: LaunchContext) -> list:
conf = context.launch_configurations
if conf["use_case"] != "localization":
return [
LogInfo(msg="topic_state_monitor is not launched because use_case is not localization.")
]
# component_state_monitor launch
component_state_monitor_launch_file = Path(
get_package_share_directory("component_state_monitor"),
Expand All @@ -386,14 +386,11 @@ def launch_topic_state_monitor(context: LaunchContext) -> list:
)
return [
IncludeLaunchDescription(
AnyLaunchDescriptionSource(
component_state_monitor_launch_file.as_posix(),
),
AnyLaunchDescriptionSource(component_state_monitor_launch_file.as_posix()),
launch_arguments={
"file": topic_monitor_config_path.as_posix(),
"mode": "logging_simulation",
}.items(),
condition=IfCondition(str(conf["use_case"] == "localization")),
),
]

Expand Down