Merge branch 'tier4/universe' into feat/new_concatenate_node_parameter

tier4 · Nov 7, 2024 · 470e1e0 · 470e1e0
2 parents 74a0766 + cd07852
commit 470e1e0
Showing 1 changed file with 0 additions and 31 deletions.
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -129,37 +129,6 @@ def create_parameter_dict(*args):
         )
     )
 
-    nodes.append(
-        ComposableNode(
-            package="nebula_ros",
-            plugin=sensor_make + "HwMonitorRosWrapper",
-            name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
-            parameters=[
-                {
-                    "sensor_model": sensor_model,
-                    **create_parameter_dict(
-                        "return_mode",
-                        "frame_id",
-                        "scan_phase",
-                        "sensor_ip",
-                        "host_ip",
-                        "data_port",
-                        "gnss_port",
-                        "packet_mtu_size",
-                        "rotation_speed",
-                        "cloud_min_angle",
-                        "cloud_max_angle",
-                        "diag_span",
-                        "dual_return_distance_threshold",
-                        "delay_monitor_ms",
-                    ),
-                },
-            ],
-            condition=IfCondition(LaunchConfiguration("launch_driver")),
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
     # There is an issue where hw_monitor crashes due to data race,
     # so the monitor will now only be launched when explicitly specified with a launch command.
     launch_hw_monitor: bool = IfCondition(LaunchConfiguration("launch_hw_monitor")).evaluate(