From 0471306ecc05f27eefcfb5c93039e774b7ddb337 Mon Sep 17 00:00:00 2001
From: Autumn60 <harada.akiro@gmail.com>
Date: Wed, 28 Aug 2024 12:19:12 +0900
Subject: [PATCH 1/5] delete unnecessary arg passing

Signed-off-by: Autumn60 <harada.akiro@gmail.com>
---
 aip_x1_launch/launch/sensing.launch.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index 0f23a733..b8be8aeb 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -12,7 +12,6 @@
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_awsim" value="$(var use_awsim)"/>
     </include>
 
     <!-- IMU Driver -->

From 828cd116363e2ca8b501ce5b8f183f337f4433db Mon Sep 17 00:00:00 2001
From: Autumn60 <harada.akiro@gmail.com>
Date: Wed, 28 Aug 2024 12:20:28 +0900
Subject: [PATCH 2/5] fix gnss_poser param

Signed-off-by: Autumn60 <harada.akiro@gmail.com>
---
 aip_x1_launch/config/gnss_poser.param.yaml | 8 ++++++++
 aip_x1_launch/launch/gnss.launch.xml       | 7 +++----
 2 files changed, 11 insertions(+), 4 deletions(-)
 create mode 100644 aip_x1_launch/config/gnss_poser.param.yaml

diff --git a/aip_x1_launch/config/gnss_poser.param.yaml b/aip_x1_launch/config/gnss_poser.param.yaml
new file mode 100644
index 00000000..5d4e8fda
--- /dev/null
+++ b/aip_x1_launch/config/gnss_poser.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    gnss_base_frame: gnss_link
+    map_frame: map
+    buff_epoch: 1
+    use_gnss_ins_orientation: false
+    gnss_pose_pub_method: 0         # 0: Median, 1: Average
diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml
index 26b0de4c..3b173273 100644
--- a/aip_x1_launch/launch/gnss.launch.xml
+++ b/aip_x1_launch/launch/gnss.launch.xml
@@ -14,14 +14,13 @@
 
     <!-- NavSatFix to MGRS Pose -->
     <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+      <arg name="param_file" default="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
       <arg name="input_topic_fix" value="ublox/nav_sat_fix" />
-      <arg name="input_topic_navpvt" value="ublox/navpvt" />
-
+      <!-- Required if use_gnss_ins_orientation in gnss_poser.param.yaml is true -->
+      <!-- <arg name="input_topic_orientation" value="" /> -->
       <arg name="output_topic_gnss_pose" value="pose" />
       <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
       <arg name="output_topic_gnss_fixed" value="fixed" />
-
-      <arg name="use_ublox_receiver" value="true" />
     </include>
 
   </group>

From d4375d10b560ba34fcbab86217c16c57f39e43e9 Mon Sep 17 00:00:00 2001
From: Autumn60 <harada.akiro@gmail.com>
Date: Wed, 28 Aug 2024 12:22:36 +0900
Subject: [PATCH 3/5] Adjust gnss launching condition

Signed-off-by: Autumn60 <harada.akiro@gmail.com>
---
 aip_x1_launch/launch/gnss.launch.xml    | 5 ++---
 aip_x1_launch/launch/sensing.launch.xml | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml
index 3b173273..94e7f9b4 100644
--- a/aip_x1_launch/launch/gnss.launch.xml
+++ b/aip_x1_launch/launch/gnss.launch.xml
@@ -1,10 +1,9 @@
 <launch>
 
-  <arg name="use_gnss" default="false" />
   <arg name="launch_driver" default="true" />
 
-  <group if="$(var use_gnss)">
-    <push-ros-namespace namespace="gnss"/>
+  <group>
+    <push-ros-namespace namespace="gnss" />
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="1.0">
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index b8be8aeb..775a8566 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -20,7 +20,7 @@
     </include>
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" unless="$(var use_awsim)">
+    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" if="$(var use_awsim)" >
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 

From e6e4cffe873cd02272b7cf84f79b11e56f62796a Mon Sep 17 00:00:00 2001
From: Autumn60 <harada.akiro@gmail.com>
Date: Wed, 28 Aug 2024 12:32:44 +0900
Subject: [PATCH 4/5] fix invalid tag usage

Signed-off-by: Autumn60 <harada.akiro@gmail.com>
---
 aip_x1_launch/launch/gnss.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml
index 94e7f9b4..ccb484fb 100644
--- a/aip_x1_launch/launch/gnss.launch.xml
+++ b/aip_x1_launch/launch/gnss.launch.xml
@@ -13,7 +13,7 @@
 
     <!-- NavSatFix to MGRS Pose -->
     <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
-      <arg name="param_file" default="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
+      <arg name="param_file" value="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
       <arg name="input_topic_fix" value="ublox/nav_sat_fix" />
       <!-- Required if use_gnss_ins_orientation in gnss_poser.param.yaml is true -->
       <!-- <arg name="input_topic_orientation" value="" /> -->

From fc4ede7a3555cb279f401eb4094842714dadd54e Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 28 Aug 2024 03:50:41 +0000
Subject: [PATCH 5/5] ci(pre-commit): autofix

---
 aip_x1_launch/package.xml        | 6 +++---
 aip_x2_launch/package.xml        | 2 +-
 aip_xx1_gen2_launch/package.xml  | 2 +-
 aip_xx1_launch/package.xml       | 2 +-
 common_sensor_launch/package.xml | 4 ++--
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index a858a316..b409beea 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -10,14 +10,14 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>autoware_compare_map_segmentation</exec_depend>
   <exec_depend>autoware_elevation_map_loader</exec_depend>
   <exec_depend>autoware_ground_segmentation</exec_depend>
-  <exec_depend>imu_corrector</exec_depend>
-  <exec_depend>individual_params</exec_depend>
   <exec_depend>autoware_occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>imu_corrector</exec_depend>
+  <exec_depend>individual_params</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index 9b6394b2..b26c7777 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -10,11 +10,11 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
-  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>septentrio_gnss_driver</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index 16b6c3c5..5934d08a 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -10,12 +10,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>
-  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index 9605d72f..94462318 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -10,12 +10,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>
-  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
index c51858bc..f6f59192 100644
--- a/common_sensor_launch/package.xml
+++ b/common_sensor_launch/package.xml
@@ -10,10 +10,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>dummy_diag_publisher</exec_depend>
-  <exec_depend>nebula_sensor_driver</exec_depend>
   <exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
   <exec_depend>autoware_radar_tracks_noise_filter</exec_depend>
+  <exec_depend>dummy_diag_publisher</exec_depend>
+  <exec_depend>nebula_sensor_driver</exec_depend>
   <exec_depend>velodyne_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>