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launch/tier4_map_launch/launch/map.launch.xml

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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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<composable_node pkg="autoware_dynamic_lanelet_provider" plugin="autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode" name="dynamic_lanelet_provider" if="$(var enable_differential_map_loading)">
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<composable_node
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pkg="autoware_dynamic_lanelet_provider"
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plugin="autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode"
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name="dynamic_lanelet_provider"
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if="$(var enable_differential_map_loading)"
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>
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<param from="$(var dynamic_lanelet_provider_param_path)"/>
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<remap from="input/odometry" to="/localization/kinematic_state"/>
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<remap from="output/lanelet2_map" to="dynamic_vector_map"/>

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