sync rc (#180)

* Use multithread for map_container (#178)

* Change input/output directory of bagkeeper. (#179)

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>

map_launch/launch/map.launch.py

@@ -152,7 +152,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
                        LaunchConfiguration('map_path'), '/pointcloud_map.pcd'],
                        'path to pointcloud map file'),
         add_launch_arg('use_intra_process', 'false', 'use ROS2 component container communication'),
-        add_launch_arg('use_multithread', 'false', 'use multithread'),
+        add_launch_arg('use_multithread', 'true', 'use multithread'),
         add_launch_arg('elevation_map_param_file_path', PathJoinSubstitution(
             [FindPackageShare('map_launch'), 'config', 'elevation_map_parameters.yaml'])),
         add_launch_arg('elevation_map_directory', PathJoinSubstitution(

system_launch/launch/system.launch.xml

@@ -57,6 +57,9 @@
     <include file="$(find-pkg-share bagkeeper)/launch/bagkeeper.launch.xml">
       <arg name="keep_duration_before_trigger_in_sec" value="45" />
       <arg name="keep_duration_after_trigger_in_sec" value="15" />
+      <arg name="input_directory" value="/media/autoware/LOG" />
+      <arg name="output_directory" value="/media/autoware/ROSBAG" />
+      <arg name="must_be_mountpoint" value="/media/autoware/ROSBAG" />
     </include>
 
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