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modified control.launch.py
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+23
-37
lines changed

1 file changed

+23
-37
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launch/tier4_control_launch/launch/control.launch.py

+23-37
Original file line numberDiff line numberDiff line change
@@ -345,21 +345,7 @@ def launch_setup(context, *args, **kwargs):
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glog_component,
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],
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)
348-
control_validator_component = ComposableNode(
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package="control_validator",
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plugin="control_validator::ControlValidator",
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name="control_validator",
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remappings=[
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("~/input/kinematics", "/localization/kinematic_state"),
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("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
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(
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"~/input/predicted_trajectory",
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"/control/trajectory_follower/lateral/predicted_trajectory",
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),
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("~/output/validation_status", "~/validation_status"),
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],
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parameters=[control_validator_param],
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)
348+
363349
else:
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container = ComposableNodeContainer(
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name="control_container",
@@ -374,21 +360,22 @@ def launch_setup(context, *args, **kwargs):
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glog_component,
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],
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)
377-
control_validator_component = ComposableNode(
378-
package="control_validator",
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plugin="control_validator::ControlValidator",
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name="control_validator",
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remappings=[
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("~/input/kinematics", "/localization/kinematic_state"),
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("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
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(
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"~/input/predicted_trajectory",
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"/control/trajectory_follower/lateral/predicted_trajectory",
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),
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("~/output/validation_status", "~/validation_status"),
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],
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parameters=[control_validator_param],
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)
363+
364+
control_validator_component = ComposableNode(
365+
package="control_validator",
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plugin="control_validator::ControlValidator",
367+
name="control_validator",
368+
remappings=[
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("~/input/kinematics", "/localization/kinematic_state"),
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("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
371+
(
372+
"~/input/predicted_trajectory",
373+
"/control/trajectory_follower/lateral/predicted_trajectory",
374+
),
375+
("~/output/validation_status", "~/validation_status"),
376+
],
377+
parameters=[control_validator_param],
378+
)
392379

393380
group = GroupAction(
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[
@@ -468,7 +455,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
468455

469456
# component
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add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication")
471-
add_launch_arg("use_multithread", "false", "use multithread")
458+
add_launch_arg("use_multithread", "true", "use multithread")
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add_launch_arg(
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"trajectory_follower_mode",
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"trajectory_follower_node",
@@ -480,12 +467,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
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condition=UnlessCondition(LaunchConfiguration("use_multithread")),
481468
)
482469

483-
if True:
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set_container_mt_executable = SetLaunchConfiguration(
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"container_executable",
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"component_container_mt",
487-
condition=IfCondition(LaunchConfiguration("use_multithread")),
488-
)
470+
set_container_mt_executable = SetLaunchConfiguration(
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"container_executable",
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"component_container_mt",
473+
condition=IfCondition(LaunchConfiguration("use_multithread")),
474+
)
489475
return launch.LaunchDescription(
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launch_arguments
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+ [

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