chore: add blockage_diag enable option

Signed-off-by: badai-nguyen <[email protected]>
tier4 · Oct 5, 2023 · ca39edb · ca39edb
1 parent 28da9a8
commit ca39edb
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -300,6 +300,7 @@ def create_parameter_dict(*args):
     blockage_diag_loader = LoadComposableNodes(
         composable_node_descriptions=[blockage_diag_component],
         target_container=container,
+        condition=launch.conditions.IfCondition(LaunchConfiguration("enable_blockage_diag")),
     )
 
     return [
@@ -347,6 +348,7 @@ def add_launch_arg(name: str, default_value=None):
 
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
+    add_launch_arg("enable_blockage_diag", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",