Update map launch

Signed-off-by: Barış Zeren <bzeren1819@gmail.com>

Author: StepTurtle

launch/tier4_map_launch/launch/map.launch.xml

@@ -13,11 +13,15 @@
   <arg name="map_tf_generator_param_path"/>
   <arg name="map_projection_loader_param_path"/>
 
+  <!-- Dynamic lanelet loading -->
+  <arg name="enable_differential_map_loading" default="true"/>
+
   <!-- whether use intra-process -->
   <arg name="use_intra_process" default="false"/>
 
   <!-- select container type -->
-  <arg name="use_multithread" default="true"/>
+  <arg name="use_multithread" default="false" unless="$(var enable_differential_map_loading)"/>
+  <arg name="use_multithread" default="true" if="$(var enable_differential_map_loading)"/>
   <let name="container_type" value="component_container" unless="$(var use_multithread)"/>
   <let name="container_type" value="component_container_mt" if="$(var use_multithread)"/>
 
@@ -46,7 +50,7 @@
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
-      <composable_node pkg="autoware_dynamic_lanelet_provider" plugin="autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode" name="dynamic_lanelet_provider">
+      <composable_node pkg="autoware_dynamic_lanelet_provider" plugin="autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode" name="dynamic_lanelet_provider" if="$(var enable_differential_map_loading)">
         <param from="$(var dynamic_lanelet_provider_param_path)"/>
         <remap from="input/odometry" to="/localization/kinematic_state"/>
         <remap from="output/lanelet2_map" to="dynamic_vector_map"/>
@@ -60,7 +64,7 @@
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
       </composable_node>
 
-      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="dynamic_lanelet2_map_visualization">
+      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="dynamic_lanelet2_map_visualization" if="$(var enable_differential_map_loading)">
         <remap from="input/lanelet2_map" to="/map/dynamic_vector_map"/>
         <remap from="output/lanelet2_map_marker" to="/map/dynamic_vector_map_marker"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>