From 528b732e8fe19a800a5d20fe744d1d0364a9c220 Mon Sep 17 00:00:00 2001
From: Max Schmeller <6088931+mojomex@users.noreply.github.com>
Date: Mon, 9 Sep 2024 15:30:08 +0900
Subject: [PATCH] feat(nebula_ros): support `launch_hw` parameter in console
 again to make replaying rosbags easier (#190)

* feat(nebula_ros): support `launch_hw` parameter in console again to make replaying rosbags easier

* chore(launch): replace tags with no children with self-closing tags

Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

---------

Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
---
 nebula_ros/launch/continental_launch_all_hw.xml | 8 +++++++-
 nebula_ros/launch/hesai_launch_all_hw.xml       | 5 +++++
 nebula_ros/launch/robosense_launch_all_hw.xml   | 5 +++++
 nebula_ros/launch/velodyne_launch_all_hw.xml    | 5 +++++
 4 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/nebula_ros/launch/continental_launch_all_hw.xml b/nebula_ros/launch/continental_launch_all_hw.xml
index 6fe9b1740..9836bb751 100644
--- a/nebula_ros/launch/continental_launch_all_hw.xml
+++ b/nebula_ros/launch/continental_launch_all_hw.xml
@@ -4,6 +4,10 @@
         <choice value="ARS548" />
         <choice value="SRR520" />
     </arg>
+    <arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
+        <choice value="true" />
+        <choice value="false" />
+    </arg>
     <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/radar/continental/$(var sensor_model).param.yaml"/>
 
     <arg name="odometry_topic" default="odometry_input"/>
@@ -14,6 +18,7 @@
 
         <node pkg="nebula_ros" exec="continental_ars548_ros_wrapper_node" name="nebula_continental_ars548" output="screen">
             <param from="$(var config_file)" allow_substs="true"/>
+            <param name="launch_hw" value="$(var launch_hw)"/>
             <remap from="/diagnostics" to="diagnostics"/>
             <remap from="odometry_input" to="$(var odometry_topic)"/>
             <remap from="acceleration_input" to="$(var acceleration_topic)"/>
@@ -24,7 +29,8 @@
     <group if="$(eval &quot;'$(var sensor_model)' == 'SRR520' &quot;)" >
 
         <node pkg="nebula_ros" exec="continental_srr520_ros_wrapper_node" name="nebula_continental_srr520" output="screen">
-	    <param from="$(var config_file)" allow_substs="true"/>
+	        <param from="$(var config_file)" allow_substs="true"/>
+            <param name="launch_hw" value="$(var launch_hw)"/>
             <remap from="/diagnostics" to="diagnostics"/>
             <remap from="odometry_input" to="$(var odometry_topic)"/>
             <remap from="acceleration_input" to="$(var acceleration_topic)"/>
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index 22e82fd69..5307d2613 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -10,10 +10,15 @@
     <choice value="PandarXT32" />
     <choice value="PandarXT32M" />
   </arg>
+  <arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
+    <choice value="true" />
+    <choice value="false" />
+  </arg>
   <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="hesai_ros_wrapper_node" name="hesai_ros_wrapper_node" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
+    <param name="launch_hw" value="$(var launch_hw)"/>
   </node>
 
 </launch>
diff --git a/nebula_ros/launch/robosense_launch_all_hw.xml b/nebula_ros/launch/robosense_launch_all_hw.xml
index ea99dfee3..66df73d15 100644
--- a/nebula_ros/launch/robosense_launch_all_hw.xml
+++ b/nebula_ros/launch/robosense_launch_all_hw.xml
@@ -4,10 +4,15 @@
     <choice value="Helios" />
     <choice value="Bpearl" />
   </arg>
+  <arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
+    <choice value="true" />
+    <choice value="false" />
+  </arg>
   <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/robosense/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="robosense_ros_wrapper_node" name="robosense_ros_wrapper_node" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
+    <param name="launch_hw" value="$(var launch_hw)"/>
   </node>
 
 </launch>
diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index defd8c027..293b071dd 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -5,10 +5,15 @@
     <choice value="VLP32" />
     <choice value="VLS128" />
   </arg>
+  <arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
+    <choice value="true" />
+    <choice value="false" />
+  </arg>
   <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/velodyne/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="velodyne_ros_wrapper_node" name="velodyne_ros_wrapper_node" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
+    <param name="launch_hw" value="$(var launch_hw)"/>
   </node>
 
 </launch>