From f3b5f530bdd7b2e991f808ca1dfb234ae6d0e96e Mon Sep 17 00:00:00 2001
From: ito-san <57388357+ito-san@users.noreply.github.com>
Date: Mon, 21 Nov 2022 16:34:46 +0900
Subject: [PATCH] fix(system_monitor): add parameter to launch system_monitor
 and fix hdd_monitor (#2285)

Signed-off-by: ito-san <fumihito.ito@tier4.jp>

Signed-off-by: ito-san <fumihito.ito@tier4.jp>
---
 .../config/system_monitor/hdd_monitor.param.yaml               | 2 +-
 launch/tier4_system_launch/launch/system.launch.xml            | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_system_launch/config/system_monitor/hdd_monitor.param.yaml b/launch/tier4_system_launch/config/system_monitor/hdd_monitor.param.yaml
index 04dd3afd09280..d818d848be801 100644
--- a/launch/tier4_system_launch/config/system_monitor/hdd_monitor.param.yaml
+++ b/launch/tier4_system_launch/config/system_monitor/hdd_monitor.param.yaml
@@ -4,7 +4,7 @@
     num_disks: 1
     disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
       disk0:
-        name: /dev/sda3
+        name: /
         temp_attribute_id: 0xC2
         temp_warn: 55.0
         temp_error: 70.0
diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
index 258a9820a9565..397f9c1d00dc3 100644
--- a/launch/tier4_system_launch/launch/system.launch.xml
+++ b/launch/tier4_system_launch/launch/system.launch.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+  <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="run_mode" default="online" description="options: online, planning_simulation"/>
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="tier4_system_launch_param_path" default="$(find-pkg-share tier4_system_launch)/config" description="tier4_system_launch parameter path"/>
@@ -10,7 +11,7 @@
     <push-ros-namespace namespace="/system"/>
 
     <!-- System Monitor -->
-    <group>
+    <group if="$(var launch_system_monitor)">
       <push-ros-namespace namespace="system_monitor"/>
       <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
         <arg name="cpu_monitor_config_file" value="$(var tier4_system_launch_param_path)/system_monitor/cpu_monitor.param.yaml"/>