node off trial (ECU1)

tier4 · Dec 26, 2024 · d64b7e4 · d64b7e4
1 parent ecb33b2
commit d64b7e4
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Showing 5 changed files with 8 additions and 3 deletions.
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -7,7 +7,7 @@
 
   <!-- whether use intra-process -->
   <arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
-
+  <!--
   <load_composable_node target="$(var localization_pointcloud_container_name)">
     <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
       <param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
@@ -30,4 +30,5 @@
       <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
     </composable_node>
   </load_composable_node>
+  -->
 </launch>
diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/ekf_localizer/launch/ekf_localizer.launch.xml
@@ -17,6 +17,7 @@
   <arg name="output_twist_name" default="ekf_twist"/>
   <arg name="output_twist_with_covariance_name" default="ekf_twist_with_covariance"/>
 
+  <!--
   <node pkg="ekf_localizer" exec="ekf_localizer_node" output="both">
     <remap from="in_pose_with_covariance" to="$(var input_pose_with_cov_name)"/>
 
@@ -35,4 +36,5 @@
 
     <param from="$(var param_file)"/>
   </node>
+  -->
 </launch>
diff --git a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
@@ -14,6 +14,7 @@
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
+  <!--
   <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher_node" name="$(var node_name)" output="both">
     <remap from="points_raw" to="$(var input_pointcloud)"/>
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
@@ -27,4 +28,5 @@
 
     <param from="$(var param_file)"/>
   </node>
+  -->
 </launch>
diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp
@@ -16,7 +16,7 @@
 #define SUBSCRIBER_HPP_
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_eigen/tf2_eigen/tf2_eigen.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
 #include <utils.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>

diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp
@@ -17,7 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <rosbag2_cpp/reader.hpp>
-#include <tf2_eigen/tf2_eigen/tf2_eigen.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
 #include <utils.hpp>
 
 #include <autoware_vehicle_msgs/msg/control_mode_report.hpp>