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

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

  <group ns="synchronization">

    <group if="$(arg car)">
      <group ns="obj_car">
        <node pkg="synchronization" type="time_monitor" name="time_monitor">
          <remap from="/times" to="$(arg pub_times_topic)"/>
          <remap from="/image_obj" to="/$(arg obj_car)/image_obj"/>
          <remap from="/image_obj_ranged" to="/$(arg obj_car)/image_obj_ranged"/>
          <remap from="/image_obj_tracked" to="/$(arg obj_car)/image_obj_tracked"/>
          <remap from="/obj_label" to="/$(arg obj_car)/obj_label"/>
          <remap from="/obj_pose_timestamp" to="/$(arg obj_car)/obj_pose_timestamp"/>
          <remap from="/sync_ranging/image_obj" to="/sync_ranging/$(arg obj_car)/image_obj"/>
          <remap from="/sync_tracking/image_obj_ranged" to="/sync_tracking/$(arg obj_car)/image_obj_ranged"/>
          <remap from="/sync_reprojection/image_obj_tracked" to="/sync_reprojection/$(arg obj_car)/image_obj_tracked"/>
          <remap from="/sync_obj_fusion/obj_label" to="/sync_obj_fusion/$(arg obj_car)/obj_label"/>
        </node>
      </group>
    </group>

    <group if="$(arg pedestrian)">
      <group ns="obj_person">
        <node pkg="synchronization" type="time_monitor" name="time_monitor">
          <remap from="/times" to="$(arg pub_times_topic)"/>
          <remap from="/image_obj" to="/$(arg obj_person)/image_obj"/>
          <remap from="/image_obj_ranged" to="/$(arg obj_person)/image_obj_ranged"/>
          <remap from="/image_obj_tracked" to="/$(arg obj_person)/image_obj_tracked"/>
          <remap from="/obj_label" to="/$(arg obj_person)/obj_label"/>
          <remap from="/obj_pose_timestamp" to="/$(arg obj_person)/obj_pose_timestamp"/>
          <remap from="/sync_ranging/image_obj" to="/sync_ranging/$(arg obj_person)/image_obj"/>
          <remap from="/sync_tracking/image_obj_ranged" to="/sync_tracking/$(arg obj_person)/image_obj_ranged"/>
          <remap from="/sync_reprojection/image_obj_tracked" to="/sync_reprojection/$(arg obj_person)/image_obj_tracked"/>
          <remap from="/sync_obj_fusion/obj_label" to="/sync_obj_fusion/$(arg obj_person)/obj_label"/>
        </node>
      </group>
    </group>

  </group>
</launch>