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feat(system_launch): add group tag around include #361

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Jul 12, 2022
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feat(system_launch): add group tag around include #361

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38 changes: 22 additions & 16 deletions system_launch/launch/system.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,26 +23,32 @@
</group>

<!-- State Monitor -->
<let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
<let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
<include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)" />
</include>
<group>
<let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
<let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
<include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)" />
</include>
</group>

<!-- Error Monitor -->
<let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
<include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)" />
<arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
<arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
<arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
<arg name="use_emergency_hold" value="false" />
</include>
<group>
<let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
<include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)" />
<arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
<arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
<arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
<arg name="use_emergency_hold" value="false" />
</include>
</group>

<!-- Emergency Handler -->
<include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
<arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
</include>
<group>
<include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
<arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
</include>
</group>

<!-- Dummy Diag Publisher -->
<group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
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