From a2708b8c305ad2db741c6133fa474bac700ccf68 Mon Sep 17 00:00:00 2001
From: TetsuKawa <kawaguchitnon@icloud.com>
Date: Fri, 6 Dec 2024 14:39:03 +0900
Subject: [PATCH] feat: change node launch to autoware_launch

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 .../launch/control.launch.py                  |  2 +-
 .../launch/system.launch.xml                  | 33 +------------------
 2 files changed, 2 insertions(+), 33 deletions(-)

diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index 1b8dd2b74c695..b8b8e347ad32b 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -31,7 +31,7 @@
 import yaml
 
 def get_control_cmd_topic(context):
-    is_redundant = LaunchConfiguration('is_redundant').perform(context)
+    is_redundant = LaunchConfiguration('launch_redundancy_system_components').perform(context)
     system_run_mode = LaunchConfiguration('system_run_mode').perform(context)
 
     if is_redundant.lower() == 'true' and system_run_mode.lower() == 'planning_simulation':
diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
index b3472c9532920..a6e62f9911270 100644
--- a/launch/tier4_system_launch/launch/system.launch.xml
+++ b/launch/tier4_system_launch/launch/system.launch.xml
@@ -40,9 +40,6 @@
   <arg name="launch_rqt_robot_monitor" default="false"/>
   <arg name="launch_rqt_runtime_monitor_err" default="false"/>
 
-  <!-- Redundancy -->
-  <arg name="is_redundant"/>
-
   <group>
     <push-ros-namespace namespace="/system"/>
 
@@ -133,34 +130,6 @@
         <arg name="config_file" value="$(var mrm_handler_param_path)"/>
       </include>
     </group>
-
-    <!-- Redundancy -->
-    <group if="$(var is_redundant)">
-      <group>
-        <!-- Redundancy Switcher Interface -->
-        <include file="$(find-pkg-share redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
-          <arg name="param_file" value="$(find-pkg-share autoware_launch)/config/system/redundancy_switcher_interface/redundancy_switcher_interface.param.yaml"/>
-          <arg name="input_mrm_state" value="/system/fail_safe/mrm_state"/>
-        </include>
-        <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
-          <!-- control cmd switcher-->
-          <include file="$(find-pkg-share control_cmd_switcher)/launch/control_cmd_switcher.launch.xml"/>
-        </group>
-        <group unless="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
-          <!-- topic state monitor for pose_with_covariance-->
-          <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-            <arg name="node_name_suffix" value="pose_estimator_pose_with_covariance"/>
-            <arg name="topic" value="/localization/pose_estimator/pose_with_covariance"/>
-            <arg name="topic_type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
-            <arg name="diag_name" value="publish_to_sub_status"/>
-            <arg name="warn_rate" value="5.0"/>
-            <arg name="error_rate" value="1.0"/>
-            <arg name="timeout" value="1.0"/>
-          </include>
-        </group>
-
-      </group>
-    </group>
   </group>
 
   <!-- Dummy Diag Publisher -->
@@ -179,4 +148,4 @@
   <group if="$(var launch_system_recover_operator)">
     <node pkg="diagnostic_graph_utils" exec="recovery_node" name="recovery"/>
   </group>
-</launch>
\ No newline at end of file
+</launch>