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chore: sync awf-latest #285

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merged 1 commit into from
Jan 20, 2024
Merged

chore: sync awf-latest #285

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10 changes: 9 additions & 1 deletion autoware_launch/launch/pointcloud_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
Expand All @@ -37,12 +38,19 @@ def add_launch_arg(name: str, default_value=None):
condition=IfCondition(LaunchConfiguration("use_multithread")),
)

glog_component = ComposableNode(
package="glog_component",
plugin="GlogComponent",
name="glog_component",
namespace="pointcloud_container",
)

pointcloud_container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
namespace="/",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[],
composable_node_descriptions=[glog_component],
output="both",
)

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