Merge branch 'tier4/universe' into feature/nebula_launcher_refactor

tier4 · Oct 12, 2023 · 9db09d0 · 9db09d0
2 parents 6e1e930 + a0a87ae
commit 9db09d0
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
@@ -287,6 +287,7 @@ 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 [
@@ -334,6 +335,7 @@ 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",