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feat(system_launch): add component state monitor #561

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Nov 17, 2022
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feat(system_launch): add component state monitor #561

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8 changes: 8 additions & 0 deletions system_launch/launch/system.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,14 @@
<arg name="config_file" value="$(var config_file)" />
</include>

<!-- Component State Monitor -->
<group>
<include file="$(find-pkg-share component_state_monitor)/launch/component_state_monitor.launch.py">
<arg name="mode" value="$(var run_mode)"/>
<arg name="file" value="$(find-pkg-share component_state_monitor)/config/topics.yaml"/>
</include>
</group>

<!-- Error Monitor -->
<let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
<include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
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