Change ROSBag 2 order of launch (#2482)

* latest * Remove unnecessary * Remove logs * Remove more
usdot-fhwa-stol · Jan 22, 2025 · bb6ab96 · bb6ab96
1 parent 86e5732
commit bb6ab96
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Showing 2 changed files with 4 additions and 10 deletions.
diff --git a/carma/config/rosbag2_qos_overrides.yaml b/carma/config/rosbag2_qos_overrides.yaml
@@ -11,25 +11,21 @@
   history: keep_last
   reliability: reliable
   durability: transient_local
-  depth: 1
 
 /environment/semantic_map:
   history: keep_last
   reliability: reliable
   durability: transient_local
-  depth: 1
 
 /localization/map_param_loader/georeference:
   history: keep_last
   reliability: reliable
   durability: transient_local
-  depth: 1
 
 /localization/points_map:
   history: keep_last
   reliability: reliable
   durability: transient_local
-  depth: 1
 
 /message/incoming_geofence_control:
   history: keep_all
@@ -50,10 +46,8 @@
   history: keep_last
   reliability: reliable
   durability: transient_local
-  depth: 1
 
 /environment/map_update_debug:
   history: keep_last
   reliability: reliable
-  durability: transient_local
-  depth: 1
+  durability: transient_local
diff --git a/carma/launch/carma_src.launch.py b/carma/launch/carma_src.launch.py
@@ -352,14 +352,14 @@ def generate_launch_description():
         declare_arealist_path,
         declare_vector_map_file,
         declare_is_ros2_tracing_enabled,
+        ros2_rosbag_launch,
+        OpaqueFunction(function=create_ros2_tracing_action),
         drivers_group,
         transform_group,
         environment_group,
         localization_group,
         v2x_group,
         guidance_group,
-        ros2_rosbag_launch,
         ui_group,
-        system_controller,
-        OpaqueFunction(function=create_ros2_tracing_action)
+        system_controller
     ])