Skip to content

tier4_system_launch#

Structure#

tier4_system_launch

Package Dependencies#

Please see <exec_depend> in package.xml.

Usage#

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of system.launch.xml.

  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
    <arg name="run_mode" value="online"/>
    <arg name="sensor_model" value="SENSOR_MODEL"/>

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>

The sensing configuration parameters used in system_error_monitor are loaded from "config/diagnostic_aggregator/sensor_kit.param.yaml" in the "SENSOR_MODEL_description" package.