feat: add some arg to launch

Signed-off-by: TetsuKawa <[email protected]>
tier4 · Jan 23, 2025 · 4ec501a · 4ec501a
1 parent fb5dbee
commit 4ec501a
Showing 1 changed file with 10 additions and 6 deletions.
diff --git a/system/autoware_redundancy_relay_manager/launch/redundancy_relay_manager.launch.xml b/system/autoware_redundancy_relay_manager/launch/redundancy_relay_manager.launch.xml
@@ -1,13 +1,17 @@
 <launch>
-  <node pkg="autoware_redundancy_relay_manager" exec="autoware_redundancy_relay_manager_node" name="redundancy_relay_manager" output="screen"/>
-  <arg name="config_file" default="$(find autoware_redundancy_relay_manager)/config/redundancy_relay_manager.yaml"/>
   <arg name="input_operation_mode_state" default="/system/operation_mode/state"/>
-  <arg name="input_election_status" default="/system/election/status"/>
+  <arg name="input_main_election_status" default="/system/election/status"/>
+  <arg name="input_sub_election_status" default="/sub/system/election/status"/>
+  <arg name="output_topic_relay_controller_trajectory_operate" default="/system/topic_relay_controller_trajectory/operate"/>
+  <arg name="output_topic_relay_controller_pose_with_covariance_operate" default="/system/topic_relay_controller_pose_with_covariance/operate"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_redundancy_relay_manager)/config/redundancy_relay_manager.param.yaml"/>
 
   <node pkg="autoware_redundancy_relay_manager" exec="autoware_redundancy_relay_manager_node" name="redundancy_relay_manager" output="screen">
-    <param name="config_file" from="$(var config_file)"/>
     <remap from="~/input/operation_mode/state" to="$(var input_operation_mode_state)"/>
-    <remap from="~/input/election/status" to="$(var input_election_status)"/>
+    <remap from="~/input/main/election/status" to="$(var input_main_election_status)"/>
+    <remap from="~/input/sub/election/status" to="$(var input_sub_election_status)"/>
+    <remap from="~/output/topic_relay_controller_trajectory/operate" to="$(var output_topic_relay_controller_trajectory_operate)"/>
+    <remap from="~/output/topic_relay_controller_pose_with_covariance/operate" to="$(var output_topic_relay_controller_pose_with_covariance_operate)"/>
+    <param from="$(var config_file)"/>
   </node>
 </launch>
-g