From 2d4ff2a68df90cc19a34811d9fca8e79767ee3b7 Mon Sep 17 00:00:00 2001
From: aeon <jerry73204@gmail.com>
Date: Mon, 23 Sep 2024 21:39:48 +0800
Subject: [PATCH] Add an pose_source argument in the autoware.launch.xml.

---
 autoware_launch/launch/autoware.launch.xml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 4b82755c7e..1be0fa1cc1 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -48,6 +48,8 @@
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
   <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
+  <!-- Localization-->
+  <arg name="pose_source" default="ndt" description="component for localization"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -92,7 +94,9 @@
 
   <!-- Localization -->
   <group if="$(var launch_localization)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"> 
+      <arg name="pose_source" value="$(var pose_source)"/>
+    </include>
   </group>
 
   <!-- Perception -->