@@ -345,21 +345,7 @@ def launch_setup(context, *args, **kwargs):
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glog_component ,
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],
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)
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- 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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- )
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+
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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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)
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- 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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- )
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+
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+ 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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+ )
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group = GroupAction (
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[
@@ -468,7 +455,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
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# component
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add_launch_arg ("use_intra_process" , "false" , "use ROS 2 component container communication" )
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- add_launch_arg ("use_multithread" , "false " , "use multithread" )
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+ 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" )),
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)
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- if True :
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- set_container_mt_executable = SetLaunchConfiguration (
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- "container_executable" ,
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- "component_container_mt" ,
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- condition = IfCondition (LaunchConfiguration ("use_multithread" )),
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- )
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+ set_container_mt_executable = SetLaunchConfiguration (
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+ "container_executable" ,
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+ "component_container_mt" ,
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+ condition = IfCondition (LaunchConfiguration ("use_multithread" )),
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+ )
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return launch .LaunchDescription (
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launch_arguments
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+ [
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