feat: add sensing launch

build_depends.repos

@@ -1,4 +1,8 @@
 repositories:
+  launch/aip_launcher:
+    type: git
+    url: https://github.com/tier4/AutowareArchitectureProposal_aip_launcher.git
+    version: use-autoware-auto-msgs
   common/autoware_lint_common:
     type: git
     url: https://github.com/tier4/tier4_ament_lint
@@ -51,3 +55,15 @@ repositories:
     type: git
     url: https://github.com/astuff/pacmod3_msgs
     version: main
+  vendor/tamagawa_imu_driver:
+    type: git
+    url: https://github.com/tier4/tamagawa_imu_driver.git
+    version: ros2
+  vendor/livox-driver:
+    type: git
+    url: https://github.com/tier4/livox_ros2_driver.git
+    version: tier4/master
+  vendor/velodyne_vls:
+    type: git
+    url: https://github.com/tier4/velodyne_vls.git
+    version: use-autoware-auto-msgs

launch/sensing_launch/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+project(sensing_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

launch/sensing_launch/README.md

@@ -0,0 +1,49 @@
+# sensing_launch
+
+## Structure
+
+![sensing_launch](./sensing_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can include as follows in `*.launch.xml` to use `sensing.launch.xml`.
+
+```xml
+  <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml">
+    <arg name="launch_driver" value="true"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+  </include>
+```
+
+## Launch Directory Structure
+
+This package finds sensor settings of specified sensor model in `launch`.
+
+```bash
+launch/
+├── aip_x1 # Sensor model name
+│   ├── camera.launch.xml # Camera
+│   ├── gnss.launch.xml # GNSS
+│   ├── imu.launch.xml # IMU
+│   ├── lidar.launch.xml # LiDAR
+│   └── pointcloud_preprocessor.launch.py # for preprocessing pointcloud
+...
+```
+
+## Notes
+
+This package finds settings with variables.
+
+ex.)
+
+<https://github.com/tier4/autoware_launcher/blob/d880474/sensing_launch/launch/sensing.launch.xml#L12>
+
+```xml
+<include file="$(find-pkg-share sensing_launch)/launch/$(var sensor_model)/lidar.launch.xml">
+```

launch/sensing_launch/launch/sensing.launch.xml

@@ -0,0 +1,26 @@
+<launch>
+
+  <arg name="launch_driver" default="true" description="do launch driver"/>
+  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
+  <arg name="vehicle_mirror_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_mirror.param.yaml" description="path to the file of vehicle mirror position yaml"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
+  <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
+
+  <group>
+    <push-ros-namespace namespace="sensing"/>
+
+    <!-- Driver -->
+    <include file="$(var sensor_launch_pkg)/launch/sensing.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+      <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+
+  </group>
+
+</launch>

launch/sensing_launch/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sensing_launch</name>
+  <version>0.1.0</version>
+  <description>The sensing_launch package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <exec_depend>aip_x1_launch</exec_depend>
+  <exec_depend>aip_x2_launch</exec_depend>
+  <exec_depend>aip_xx1_launch</exec_depend>
+  <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>vehicle_info_util</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>