remove topic_state_monitor for camera

Author: kotaro-hihara

aip_x2_launch/launch/topic_state_monitor.launch.py

@@ -173,159 +173,6 @@ def generate_launch_description():
         extra_arguments=[{"use_intra_process_comms": True}],
     )
 
-    # Camera topic monitors
-    camera0_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera0",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera0/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera0_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera1_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera1",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera1/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera1_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera2_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera2",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera2/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera2_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera3_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera3",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera3/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera3_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera4_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera4",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera4/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera4_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera5_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera5",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera5/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera5_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera6_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera6",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera6/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera6_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    camera7_topic_monitor = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_camera7",
-        parameters=[
-            {
-                "topic": "/sensing/camera/camera7/camera_info",
-                "topic_type": "sensor_msgs/msg/CameraInfo",
-                "best_effort": True,
-                "diag_name": "camera7_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 5.0,
-                "window_size": 10,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
     # ComposableNodeContainer to run all ComposableNodes
     container = ComposableNodeContainer(
         name="topic_state_monitor_container",
@@ -341,14 +188,6 @@ def generate_launch_description():
             radar_rear_center_monitor,
             radar_rear_left_monitor,
             radar_rear_right_monitor,
-            camera0_topic_monitor,
-            camera1_topic_monitor,
-            camera2_topic_monitor,
-            camera3_topic_monitor,
-            camera4_topic_monitor,
-            camera5_topic_monitor,
-            camera6_topic_monitor,
-            camera7_topic_monitor,
         ],
         output="screen",
     )