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feat: add glog_component to aip_xx1_launch #184

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merged 6 commits into from
Dec 13, 2023
Merged

feat: add glog_component to aip_xx1_launch #184

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ab26148
feat: add glog
Shin-kyoto Nov 9, 2023
ca2fe89
fix: modify mistakes about glog component
Shin-kyoto Nov 13, 2023
5a650fb
feat: remove glog from x2, x1
Shin-kyoto Nov 15, 2023
f5cec8d
fix: upfate common sensor launch
Shin-kyoto Nov 15, 2023
e62f36d
feat: remove glog from common_sensor_launch
Shin-kyoto Nov 15, 2023
9d8ed6a
fix: add glog_component to concat_loader
Shin-kyoto Dec 12, 2023
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10 changes: 8 additions & 2 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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],
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@badai-nguyen badai-nguyen Nov 28, 2023 •
edited
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image
I found that the container including glog_component wasn't executed.
The reason is theLaunchConfiguration("use_pointcloud_container")=True so only concat_loader will be executed. I think you should add glog_component into concat_loader instead.

    # load concat or passthrough filter
    concat_loader = LoadComposableNodes(
        composable_node_descriptions=[glog_component, concat_component],
        target_container=target_container,
        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
    )

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Thanks, I add glog_component to concat_loader 🙇

9d8ed6a

condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)
Expand All @@ -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")),
)
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1 change: 1 addition & 0 deletions aip_xx1_launch/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>pacmod3</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
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