Merge pull request #9 from tier4/feat/change_ins_connection

change launch, ptpd ansible
tier4 · Jul 21, 2024 · 74c40fe · 74c40fe
2 parents d9a8258 + 0a30e20
commit 74c40fe
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/ansible/setup-drs.yaml b/ansible/setup-drs.yaml
@@ -53,17 +53,17 @@
       vars:
         ptpd_host_interfaces:
           - eth0
-      when: drs_ecu_id == '0'
+      when: drs_ecu_id == '1'
     - role: ptpd_client
       vars:
         ptpd_client_interfaces:
           - eth1
-      when: drs_ecu_id == '0'
+      when: drs_ecu_id == '1'
     - role: ptpd_client
       vars:
         ptpd_client_interfaces:
           - eth0
-      when: drs_ecu_id == '1'
+      when: drs_ecu_id == '0'
     - role: ssh_key_gen
       when: drs_ecu_id == '0'
     - role: visudo_for_no_password

diff --git a/src/drs_launch/launch/drs_ecu0.launch.xml b/src/drs_launch/launch/drs_ecu0.launch.xml
@@ -68,11 +68,6 @@
     <arg name="launch_driver" value="$(var live_sensor)"/>
   </include>
 
-  <!-- INS -->
-  <include file="$(find-pkg-share drs_launch)/launch/component/ins.launch.xml">
-    <arg name="launch_driver" value="$(var live_sensor)"/>
-  </include>
-
   <!-- topic monitor -->
   <node pkg="ros_topic_monitor" exec="ros_topic_monitor">
     <param name="topic_list" value="/opt/drs/record_topics_ecu0.yaml"/>

diff --git a/src/drs_launch/launch/drs_ecu1.launch.xml b/src/drs_launch/launch/drs_ecu1.launch.xml
@@ -58,6 +58,11 @@
     <arg name="host_ip" value="192.168.3.2"/>
   </include>
 
+  <!-- INS -->
+  <include file="$(find-pkg-share drs_launch)/launch/component/ins.launch.xml">
+    <arg name="launch_driver" value="$(var live_sensor)"/>
+  </include>
+
   <!-- topic monitor -->
   <node pkg="ros_topic_monitor" exec="ros_topic_monitor">
     <param name="topic_list" value="/opt/drs/record_topics_ecu1.yaml"/>