node off trial

localization/gyro_odometer/launch/gyro_odometer.launch.xml

@@ -11,6 +11,7 @@
 
   <arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>
 
+  <!--
   <node pkg="gyro_odometer" exec="gyro_odometer_node" output="both">
     <remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>
 
@@ -24,4 +25,5 @@
 
     <param from="$(var config_file)"/>
   </node>
+  -->
 </launch>

localization/localization_error_monitor/launch/localization_error_monitor.launch.xml

@@ -2,8 +2,10 @@
   <arg name="input/odom" default="/localization/kinematic_state"/>
   <arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/>
 
+  <!--
   <node pkg="localization_error_monitor" exec="localization_error_monitor_node" output="both">
     <remap from="input/odom" to="$(var input/odom)"/>
     <param from="$(var param_file)"/>
   </node>
+  -->
 </launch>

localization/pose_initializer/launch/pose_initializer.launch.xml

@@ -9,6 +9,7 @@
   <arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
   <arg name="gnss_initial_pose_auto_fix_target" default="pointcloud_map"/>
 
+  <!--
   <node pkg="pose_initializer" exec="pose_initializer_node" output="both">
     <param from="$(var config_file)" allow_substs="true"/>
     <remap from="yabloc_align" to="/localization/pose_estimator/yabloc/initializer/yabloc_align_srv"/>
@@ -24,4 +25,5 @@
     <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
     <remap from="~/vector_map" to="/map/vector_map"/>
   </node>
+  -->
 </launch>

localization/pose_instability_detector/launch/pose_instability_detector.launch.xml

@@ -6,9 +6,11 @@
   <arg name="input_odometry" default="~/input/odometry"/>
   <arg name="input_twist" default="~/input/twist"/>
 
+  <!--
   <node pkg="pose_instability_detector" exec="pose_instability_detector_node" name="$(var node_name)" output="both">
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/twist" to="$(var input_twist)"/>
     <param from="$(var param_file)"/>
   </node>
+  -->
 </launch>

localization/stop_filter/launch/stop_filter.launch.xml

@@ -3,6 +3,7 @@
   <arg name="input_odom_name" default="ekf_odom"/>
   <arg name="output_odom_name" default="stop_filter_odom"/>
   <arg name="debug_stop_flag" default="debug/stop_flag"/>
+  <!--
   <node pkg="stop_filter" exec="stop_filter_node" output="both">
     <remap from="input/odom" to="$(var input_odom_name)"/>
 
@@ -11,4 +12,5 @@
 
     <param from="$(var param_path)"/>
   </node>
+  -->
 </launch>

localization/twist2accel/launch/twist2accel.launch.xml

@@ -4,10 +4,12 @@
   <arg name="in_odom" default="in_odom"/>
   <arg name="in_twist" default="in_twist"/>
   <arg name="out_accel" default="out_accel"/>
+  <!--
   <node pkg="twist2accel" exec="twist2accel_node" output="both">
     <remap from="input/odom" to="$(var in_odom)"/>
     <remap from="input/twist" to="$(var in_twist)"/>
     <remap from="output/accel" to="$(var out_accel)"/>
     <param from="$(var param_file)"/>
   </node>
+  -->
 </launch>

sensing/imu_corrector/launch/imu_corrector.launch.xml

@@ -3,10 +3,11 @@
   <arg name="input_topic" default="imu_raw"/>
   <arg name="output_topic" default="imu_data"/>
   <arg name="param_file" default="$(find-pkg-share imu_corrector)/config/imu_corrector.param.yaml"/>
-
+<!--
   <node pkg="imu_corrector" exec="imu_corrector_node" output="both">
     <remap from="input" to="$(var input_topic)"/>
     <remap from="output" to="$(var output_topic)"/>
     <param from="$(var param_file)"/>
   </node>
+-->
 </launch>

sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml

@@ -2,10 +2,11 @@
   <arg name="input_vehicle_velocity_topic" default="velocity_status"/>
   <arg name="output_twist_with_covariance" default="twist_with_covariance"/>
   <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
-
+<!--
   <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter_node" output="both">
     <param from="$(var config_file)"/>
     <remap from="velocity_status" to="$(var input_vehicle_velocity_topic)"/>
     <remap from="twist_with_covariance" to="$(var output_twist_with_covariance)"/>
   </node>
+-->
 </launch>

system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml

@@ -1,6 +1,8 @@
 <launch>
   <group>
     <push-ros-namespace namespace="default_ad_api/helpers"/>
+    <!--
     <node pkg="automatic_pose_initializer" exec="automatic_pose_initializer_node"/>
+    -->
   </group>
 </launch>

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>

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>