Vehicle-cpp/Nav/autoware_src/autoware/utilities/sync/launch/sync_range_fusion.launch

<!-- -->
<launch>
  <!-- send table.xml to param server -->
  <arg name="car" default="true" />
  <arg name="pedestrian" default="false" />
  <arg name="obj_car" default="obj_car" />
  <arg name="obj_person" default="obj_person" />
  <arg name="vscan_image" default="false" />
  <arg name="points_image" default="true" />
  <arg name="scan_image" default="false" />


  <group ns="sync_ranging">
    <group if="$(arg car)">
      <group ns="obj_car">
        <node pkg="synchronization" type="sync_range_fusion" name="sync_$(arg obj_car)_ranging">
          <remap from="/image_obj" to="/$(arg obj_car)/image_obj"/>
          <remap from="/vscan_image" to="/vscan_image" if="$(arg vscan_image)"/>
          <remap from="/vscan_image" to="/points_image" if="$(arg points_image)"/>
          <remap from="/vscan_image" to="/scan_image" if="$(arg scan_image)"/>
          <remap from="/image_obj_ranged" to="/$(arg obj_car)/image_obj_ranged"/>
          <remap from="/sync_ranging/image_obj" to="/sync_ranging/$(arg obj_car)/image_obj"/>
          <remap from="/sync_ranging/$(arg obj_car)/vscan_image" to="/sync_ranging/$(arg obj_car)/vscan_image" if="$(arg vscan_image)" />
          <remap from="/sync_ranging/$(arg obj_car)/vscan_image" to="/sync_ranging/$(arg obj_car)/points_image" if="$(arg points_image)" />
          <remap from="/sync_ranging/$(arg obj_car)/vscan_image" to="/sync_ranging/$(arg obj_car)/scan_image" if="$(arg scan_image)" />
        </node>
      </group>
    </group>

    <group if="$(arg pedestrian)">
      <group ns="obj_person">
        <node pkg="synchronization" type="sync_range_fusion" name="sync_$(arg obj_person)_ranging">
          <remap from="/image_obj" to="/$(arg obj_person)/image_obj"/>
          <remap from="/vscan_image" to="/vscan_image" if="$(arg vscan_image)"/>
          <remap from="/vscan_image" to="/points_image" if="$(arg points_image)"/>
          <remap from="/vscan_image" to="/scan_image" if="$(arg scan_image)"/>
          <remap from="/image_obj_ranged" to="/$(arg obj_person)/image_obj_ranged"/>
          <remap from="/sync_ranging/image_obj" to="/sync_ranging/$(arg obj_person)/image_obj"/>
          <remap from="/sync_ranging/$(arg obj_person)/vscan_image" to="/sync_ranging/$(arg obj_person)/vscan_image" if="$(arg vscan_image)" />
          <remap from="/sync_ranging/$(arg obj_person)/vscan_image" to="/sync_ranging/$(arg obj_person)/points_image" if="$(arg points_image)" />
          <remap from="/sync_ranging/$(arg obj_person)/vscan_image" to="/sync_ranging/$(arg obj_person)/scan_image" if="$(arg scan_image)" />
        </node>
      </group>
    </group>
  </group>
</launch>