Merge pull request autowarefoundation#418 from tier4/sync-awf-latest

chore: sync awf-latest
Kazunori-Nakajima · May 27, 2024 · 41fa3bb · 41fa3bb
2 parents a318ef1 + 6bd742f
commit 41fa3bb
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 16 deletions.
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,6 +6,7 @@
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -39,6 +40,9 @@
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+  </group>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -3608,22 +3608,6 @@ Visualization Manager:
                   Value: true
               Enabled: true
               Name: Objects Of Interest
-            - Class: rviz_plugins/StringStampedOverlayDisplay
-              Enabled: true
-              Font Size: 15
-              Left: 1024
-              Max Letter Num: 100
-              Name: StringStampedOverlayDisplay
-              Text Color: 25; 255; 240
-              Top: 128
-              Topic:
-                Depth: 5
-                Durability Policy: Volatile
-                History Policy: Keep Last
-                Reliability Policy: Reliable
-                Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
-              Value: true
-              Value height offset: 0
           Enabled: true
           Name: Planning
         - Class: rviz_common/Group