feat: add glog_component to aip_xx1_launch (#184)

* feat: add glog Signed-off-by: Shin-kyoto <[email protected]> * fix: modify mistakes about glog component Signed-off-by: Shin-kyoto <[email protected]> * feat: remove glog from x2, x1 Signed-off-by: Shin-kyoto <[email protected]> * fix: upfate common sensor launch Signed-off-by: Shin-kyoto <[email protected]> * feat: remove glog from common_sensor_launch Signed-off-by: Shin-kyoto <[email protected]> * fix: add glog_component to concat_loader Signed-off-by: Shin-kyoto <[email protected]> --------- Signed-off-by: Shin-kyoto <[email protected]> Signed-off-by: Shin-kyoto <[email protected]>
tier4 · Dec 13, 2023 · d9c2324 · d9c2324
1 parent b5ba2ef
commit d9c2324
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,13 +57,19 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
+        composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -76,7 +82,7 @@ def launch_setup(context, *args, **kwargs):
 
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component],
+        composable_node_descriptions=[concat_component, glog_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )

diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>