Logging simulator (autowarefoundation#65)

* Add logging_simulator.launch Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Don't load env when launch driver is false Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
1222-takeshi · Dec 10, 2021 · 8b817c6 · 8b817c6
1 parent 4bdb615
commit 8b817c6
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/launch/sensing_launch/launch/aip_xx1/lidar.launch b/launch/sensing_launch/launch/aip_xx1/lidar.launch
@@ -49,20 +49,18 @@
     </group>
 
     <group ns="front_left">
-      <include file="$(find sensing_launch)/launch/livox_horizon.launch">
+      <include file="$(find sensing_launch)/launch/livox_horizon.launch" if="$(arg launch_driver)">
         <arg name="sensor_frame" default="livox_front_left" />
         <arg name="bd_list" value="$(env LIVOX_FRONT_LEFT_ID)" />
         <arg name="xfer_format" value="0"/>
-        <arg name="launch_driver" value="$(arg launch_driver)" />
       </include>
     </group>
 
     <group ns="front_right">
-      <include file="$(find sensing_launch)/launch/livox_horizon.launch">
+      <include file="$(find sensing_launch)/launch/livox_horizon.launch" if="$(arg launch_driver)">
         <arg name="sensor_frame" default="livox_front_right" />
         <arg name="bd_list" value="$(env LIVOX_FRONT_RIGHT_ID)" />
         <arg name="xfer_format" value="0"/>
-        <arg name="launch_driver" value="$(arg launch_driver)" />
       </include>
     </group>
 

diff --git a/launch/sensing_launch/launch/livox_horizon.launch b/launch/sensing_launch/launch/livox_horizon.launch
@@ -1,6 +1,5 @@
 <launch>
   <!-- Params -->
-  <arg name="launch_driver" default="true" />
   <arg name="sensor_frame" default="livox_frame" />
   <arg name="lvx_file_path" default="livox_test.lvx"/>
   <arg name="bd_list" default="100000000000000"/>
@@ -11,7 +10,7 @@
   <arg name="output_type" default="0"/>
   <arg name="cmdline_arg" default="$(arg bd_list)"/>
 
-  <group if="$(arg launch_driver)">
+  <group>
     <param name="xfer_format" value="$(arg xfer_format)"/>
     <param name="multi_topic" value="$(arg multi_topic)"/>
     <param name="data_src" value="$(arg data_src)"/>