Use set_parameter for use_sim_time (autowarefoundation#198)

* Use set_parameter for use_sim_time Signed-off-by: wep21 <[email protected]> * Add default parameter for scenario simulator Signed-off-by: wep21 <[email protected]>
TomohitoAndo · Apr 26, 2021 · c097553 · c097553
1 parent d44cab7
commit c097553
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Showing 38 changed files with 3 additions and 112 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -60,7 +60,6 @@
 
   <!-- Rviz -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -19,7 +19,7 @@
   <arg name="rviz" default="true" description="launch rviz" />
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" />
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
-  <set_env name="AW_ROS2_USE_SIM_TIME" value="true" />
+  <set_parameter name="use_sim_time" value="true" />
 
   <!-- Vehicle -->
   <group>
@@ -94,7 +94,6 @@
 
   <!-- Rviz -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -13,6 +13,8 @@
   <arg name="perception/enable_detection_failure" default="true"/>
   <arg name="perception/enable_object_recognition" default="true"/>
   <arg name="sensing/visible_range" default="300.0"/>
+  <arg name="use_sim_time" default="false" />
+  <set_parameter name="use_sim_time" value="$(var use_sim_time)" />
 
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
@@ -56,7 +58,6 @@
 
   <!-- Rviz -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->

diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
@@ -39,7 +39,6 @@
 
       <!-- latlon coupler -->
       <node pkg="latlon_muxer" exec="latlon_muxer" name="latlon_muxer" output="screen">
-        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="input/lateral/control_cmd" to="lateral/control_cmd"/>
         <remap from="input/longitudinal/control_cmd" to="longitudinal/control_cmd"/>
         <remap from="output/control_cmd" to="control_cmd"/>

diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
@@ -33,7 +33,6 @@
     </include>
     <!-- final twist output of localization -->
     <node pkg="topic_tools" exec="relay" name="relay">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/localization/pose_twist_fusion_filter/twist" />
       <param name="output_topic" value="/localization/twist" />
       <param name="type" value="geometry_msgs/msg/TwistStamped" />

diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
@@ -41,7 +41,6 @@ def generate_launch_description():
             'min_z': -30.0,
             'max_z': 50.0,
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -61,7 +60,6 @@ def generate_launch_description():
             'voxel_size_x': 3.0,
             'voxel_size_y': 3.0,
             'voxel_size_z': 3.0,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -79,7 +77,6 @@ def generate_launch_description():
         ],
         parameters=[{
             'sample_num': 1500,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')

diff --git a/map_launch/launch/map.launch.xml b/map_launch/launch/map.launch.xml
@@ -10,7 +10,6 @@
     </include>
 
     <node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" args="$(var pointcloud_map_path)">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="output/pointcloud_map" to="/map/pointcloud_map" />
     </node>
 

diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -8,7 +8,6 @@
 
   <!-- compressed to raw image-->
   <node pkg="image_transport" exec="republish" name="traffic_light_image_decompressor" args="compressed raw">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="in/compressed" to="$(var input/image)/compressed"/>
     <remap from="out" to="$(var input/image)"/>
   </node>

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -3,7 +3,6 @@
   <arg name="map_topic_name" default="/map/vector_map" />
 
   <node pkg="lane_change_planner" exec="lane_change_planner" name="lane_change_planner" output="screen">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="~/input/route" to="$(var input_route_topic_name)" />
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
     <remap from="~/input/perception" to="/perception/object_recognition/objects" />
@@ -46,7 +45,6 @@
                    autoware_planning_msgs/msg/LaneChangeCommand 'command: true' -r 10"/>
 
   <node pkg="turn_signal_decider" exec="turn_signal_decider" name="turn_signal_decider" output="screen">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)" />
     <remap from="input/path_with_lane_id" to="path_with_lane_id" />
     <remap from="input/vector_map" to="$(var map_topic_name)" />
     <remap from="output/turn_signal_cmd" to="/planning/turn_signal_decider/turn_signal_cmd" />

diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -24,7 +24,6 @@
   <!-- skip surround obstacle checker -->
   <group unless="$(var use_surround_obstacle_check)">
     <node pkg="topic_tools" exec="relay" name="skip_surround_obstacle_check_relay" output="log">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="obstacle_avoidance_planner/trajectory" />
       <param name="output_topic" value="surround_obstacle_checker/trajectory" />
       <param name="type" value="autoware_planning_msgs/msg/Trajectory" />

diff --git a/sensing_launch/launch/aip_customized/camera.launch.xml b/sensing_launch/launch/aip_customized/camera.launch.xml
@@ -7,7 +7,6 @@
     <group>
       <push-ros-namespace namespace="traffic_light"/>
       <node pkg="usb_cam" name="traffic_light_camera" exec="usb_cam_node" if="$(var launch_driver)">
-        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="traffic_light/camera_optical_link" />

diff --git a/sensing_launch/launch/aip_customized/gnss.launch.xml b/sensing_launch/launch/aip_customized/gnss.launch.xml
@@ -8,7 +8,6 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

diff --git a/sensing_launch/launch/aip_customized/imu.launch.xml b/sensing_launch/launch/aip_customized/imu.launch.xml
@@ -8,7 +8,6 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
-        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -18,7 +17,6 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

diff --git a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
@@ -62,7 +62,6 @@ def launch_setup(context, *args, **kwargs):
                              '/sensing/lidar/left/outlier_filtered/pointcloud',
                              '/sensing/lidar/right/outlier_filtered/pointcloud'],
             'output_frame': LaunchConfiguration('base_frame'),
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -81,7 +80,6 @@ def launch_setup(context, *args, **kwargs):
             'output_frame': LaunchConfiguration('base_frame'),
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -107,7 +105,6 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -126,7 +123,6 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -144,9 +140,6 @@ def launch_setup(context, *args, **kwargs):
             ground_component,
         ],
         output='screen',
-        parameters=[{
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
     )
 
     # load concat or passthrough filter

diff --git a/sensing_launch/launch/aip_s1/camera.launch.xml b/sensing_launch/launch/aip_s1/camera.launch.xml
@@ -7,7 +7,6 @@
     <group>
       <push-ros-namespace namespace="traffic_light"/>
       <node pkg="usb_cam" name="traffic_light_camera" exec="usb_cam_node" if="$(var launch_driver)">
-        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="traffic_light/camera_optical_link" />

diff --git a/sensing_launch/launch/aip_s1/gnss.launch.xml b/sensing_launch/launch/aip_s1/gnss.launch.xml
@@ -8,7 +8,6 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

diff --git a/sensing_launch/launch/aip_s1/imu.launch.xml b/sensing_launch/launch/aip_s1/imu.launch.xml
@@ -8,7 +8,6 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
-        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -18,7 +17,6 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

diff --git a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
@@ -61,7 +61,6 @@ def launch_setup(context, *args, **kwargs):
                              '/sensing/lidar/left/outlier_filtered/pointcloud',
                              '/sensing/lidar/right/outlier_filtered/pointcloud'],
             'output_frame': LaunchConfiguration('base_frame'),
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -80,7 +79,6 @@ def launch_setup(context, *args, **kwargs):
             'output_frame': LaunchConfiguration('base_frame'),
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -106,7 +104,6 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -125,7 +122,6 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -143,9 +139,6 @@ def launch_setup(context, *args, **kwargs):
             ground_component,
         ],
         output='screen',
-        parameters=[{
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
     )
 
     # load concat or passthrough filter

diff --git a/sensing_launch/launch/aip_x1/camera.launch.xml b/sensing_launch/launch/aip_x1/camera.launch.xml
@@ -7,7 +7,6 @@
     <group>
       <push-ros-namespace namespace="driving_recorder"/>
       <node pkg="usb_cam" name="driving_recorder_camera" exec="usb_cam_node" if="$(var launch_driver)">
-        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="driving_recorder/camera_optical_link" />

diff --git a/sensing_launch/launch/aip_x1/gnss.launch.xml b/sensing_launch/launch/aip_x1/gnss.launch.xml
@@ -9,7 +9,6 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

diff --git a/sensing_launch/launch/aip_x1/imu.launch.xml b/sensing_launch/launch/aip_x1/imu.launch.xml
@@ -7,7 +7,6 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log">
-      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/lidar/front_center/livox/imu" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

diff --git a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
@@ -62,7 +62,6 @@ def launch_setup(context, *args, **kwargs):
                              '/sensing/lidar/front_right/mirror_cropped/pointcloud',
                              '/sensing/lidar/front_center/mirror_cropped/pointcloud'],
             'output_frame': LaunchConfiguration('base_frame'),
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -82,7 +81,6 @@ def launch_setup(context, *args, **kwargs):
             'output_frame': LaunchConfiguration('base_frame'),
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -108,7 +106,6 @@ def launch_setup(context, *args, **kwargs):
             'min_z': -0.5,
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -135,7 +132,6 @@ def launch_setup(context, *args, **kwargs):
             'max_x': vehicle_info['max_longitudinal_offset'],
             'min_y': vehicle_info['min_lateral_offset'],
             'max_y': vehicle_info['max_lateral_offset'],
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -160,7 +156,6 @@ def launch_setup(context, *args, **kwargs):
             'min_z': -0.5,
             'max_z': 0.5,
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -179,7 +174,6 @@ def launch_setup(context, *args, **kwargs):
         parameters=[{
             'voxel_size_x': 0.25,
             'voxel_size_y': 0.25,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -205,7 +199,6 @@ def launch_setup(context, *args, **kwargs):
             'voxel_size_y': 0.2,
             'voxel_size_z': 0.2,
             'debug': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -221,7 +214,6 @@ def launch_setup(context, *args, **kwargs):
             'input_topics': ['/sensing/lidar/rough/no_ground/pointcloud',
                              '/sensing/lidar/short_height/no_ground/pointcloud'],
             'output_frame': LaunchConfiguration('base_frame'),
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -242,7 +234,6 @@ def launch_setup(context, *args, **kwargs):
             'voxel_size_x': 0.04,
             'voxel_size_y': 0.04,
             'voxel_size_z': 0.08,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -260,7 +251,6 @@ def launch_setup(context, *args, **kwargs):
         parameters=[{
             'search_radius': 0.2,
             'min_neighbors': 5,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -280,7 +270,6 @@ def launch_setup(context, *args, **kwargs):
             'voxel_size_y': 0.4,
             'voxel_size_z': 100.0,
             'voxel_points_threshold': 5,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -298,7 +287,6 @@ def launch_setup(context, *args, **kwargs):
             'history': 'keep_last',
             'depth': 5,
             'reliability': 'best_effort',
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -322,9 +310,6 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
-        parameters=[{
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
-        }],
     )
 
     # load concat or passthrough filter