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feat: add control launch xml #2832

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feat: add control launch xml #2832

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3de16e8
feat: add control xml launch
Feb 7, 2023
f53af22
style(pre-commit): autofix
pre-commit-ci[bot] Feb 7, 2023
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186 changes: 186 additions & 0 deletions launch/tier4_control_launch/launch/control.launch.xml
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Original file line number Diff line number Diff line change
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<launch>
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<!-- option -->
<arg name="vehicle_param_file"/>
<arg name="vehicle_id"/>
<arg name="enable_obstacle_collision_checker"/>
<arg name="lateral_controller_mode"/>
<arg name="longitudinal_controller_mode"/>

<!-- common param path -->
<arg name="nearest_search_param_path"/>

<!-- package param path -->
<arg name="trajectory_follower_node_param_path"/>
<arg name="lat_controller_param_path"/>
<arg name="lon_controller_param_path"/>
<arg name="vehicle_cmd_gate_param_path"/>
<arg name="lane_departure_checker_param_path"/>
<arg name="operation_mode_transition_manager_param_path"/>
<arg name="shift_decider_param_path"/>
<arg name="obstacle_collision_checker_param_path"/>
<arg name="external_cmd_selector_param_path"/>

<!-- component -->
<arg name="use_intra_process" default="false" description="use ROS2 component container intra process communication"/>
<arg name="use_multithread" default="false" description="use multithread executor"/>

<group>
<push-ros-namespace namespace="control"/>

<let name="container_executable" value="component_container" unless="$(var use_multithread)"/>
<let name="container_executable" value="component_container_mt" if="$(var use_multithread)"/>

<node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace="">
<!-- trajectory follower -->
<composable_node pkg="trajectory_follower_node" plugin="autoware::motion::control::trajectory_follower_node::Controller" name="controller_node_exe" namespace="trajectory_follower">
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/current_odometry" to="/localization/kinematic_state"/>
<remap from="~/input/current_steering" to="/vehicle/status/steering_status"/>
<remap from="~/input/current_accel" to="/localization/acceleration"/>
<remap from="~/input/current_operation_mode" to="/system/operation_mode/state"/>
<remap from="~/output/predicted_trajectory" to="lateral/predicted_trajectory"/>
<remap from="~/output/lateral_diagnostic" to="lateral/diagnostic"/>
<remap from="~/output/slope_angle" to="longitudinal/slope_angle"/>
<remap from="~/output/longitudinal_diagnostic" to="longitudinal/diagnostic"/>
<remap from="~/output/control_cmd" to="control_cmd"/>
<param from="$(var nearest_search_param_path)"/>
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<param from="$(var trajectory_follower_node_param_path)"/>
<param from="$(var lon_controller_param_path)"/>
<param from="$(var lat_controller_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

<!-- lane departure checker -->
<composable_node pkg="lane_departure_checker" plugin="lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
<remap from="~/input/route" to="/planning/mission_planning/route"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var lane_departure_checker_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

<!-- shift decider -->
<composable_node pkg="shift_decider" plugin="ShiftDecider" name="shift_decider">
<remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
<remap from="input/state" to="/autoware/state"/>
<remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
<param from="$(var shift_decider_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

<!-- vehicle cmd gate -->
<composable_node pkg="vehicle_cmd_gate" plugin="vehicle_cmd_gate::VehicleCmdGate" name="vehicle_cmd_gate">
<remap from="input/steering" to="/vehicle/status/steering_status"/>
<remap from="input/operation_mode" to="/system/operation_mode/state"/>
<remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd"/>
<remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
<remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
<remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd"/>
<remap from="input/external/control_cmd" to="/external/selected/control_cmd"/>
<remap from="input/external/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
<remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
<remap from="input/external/gear_cmd" to="/external/selected/gear_cmd"/>
<remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
<remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
<remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
<remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
<remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
<remap from="input/mrm_state" to="/system/fail_safe/mrm_state"/>
<remap from="input/gear_status" to="/vehicle/status/gear_status"/>
<remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd"/>
<remap from="output/control_cmd" to="/control/command/control_cmd"/>
<remap from="output/gear_cmd" to="/control/command/gear_cmd"/>
<remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd"/>
<remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd"/>
<remap from="output/gate_mode" to="/control/current_gate_mode"/>
<remap from="output/engage" to="/api/autoware/get/engage"/>
<remap from="output/external_emergency" to="/api/autoware/get/emergency"/>
<remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
<remap from="~/service/engage" to="/api/autoware/set/engage"/>
<remap from="~/service/external_emergency" to="/api/autoware/set/emergency"/>
<!-- TODO(Takagi, Isamu): deprecated -->
<remap from="input/engage" to="/autoware/engage"/>
<remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
<remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
<param from="$(var vehicle_cmd_gate_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

<!-- operation mode transition manager -->
<composable_node pkg="operation_mode_transition_manager" plugin="operation_mode_transition_manager::OperationModeTransitionManager" name="operation_mode_transition_manager">
<!-- input -->
<remap from="kinematics" to="/localization/kinematic_state"/>
<remap from="steering" to="/vehicle/status/steering_status"/>
<remap from="trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="control_cmd" to="/control/command/control_cmd"/>
<remap from="control_mode_report" to="/vehicle/status/control_mode"/>
<remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
<!-- output -->
<remap from="is_autonomous_available" to="/control/is_autonomous_available"/>
<remap from="control_mode_request" to="/control/control_mode_request"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var operation_mode_transition_manager_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

<!-- external cmd selector -->
<composable_node pkg="external_cmd_selector" plugin="ExternalCmdSelector" name="external_cmd_selector">
<remap from="~/service/select_external_command" to="~/select_external_command"/>
<remap from="~/input/local/control_cmd" to="/api/external/set/command/local/control"/>
<remap from="~/input/local/shift_cmd" to="/api/external/set/command/local/shift"/>
<remap from="~/input/local/turn_signal_cmd" to="/api/external/set/command/local/turn_signal"/>
<remap from="~/input/local/heartbeat" to="/api/external/set/command/local/heartbeat"/>
<remap from="~/input/remote/control_cmd" to="/api/external/set/command/remote/control"/>
<remap from="~/input/remote/shift_cmd" to="/api/external/set/command/remote/shift"/>
<remap from="~/input/remote/turn_signal_cmd" to="/api/external/set/command/remote/turn_signal"/>
<remap from="~/input/remote/heartbeat" to="/api/external/set/command/remote/heartbeat"/>
<remap from="~/output/control_cmd" to="/external/selected/external_control_cmd"/>
<remap from="~/output/gear_cmd" to="/external/selected/gear_cmd"/>
<remap from="~/output/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
<remap from="~/output/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
<remap from="~/output/heartbeat" to="/external/selected/heartbeat"/>
<remap from="~/output/current_selector_mode" to="~/current_selector_mode"/>
<param from="$(var external_cmd_selector_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

<!-- external cmd converter -->
<composable_node pkg="external_cmd_converter" plugin="external_cmd_converter::ExternalCmdConverterNode" name="external_cmd_converter">
<param from="in/external_control_cmd" to="/external/selected/external_control_cmd"/>
<param from="in/shift_cmd" to="/external/selected/gear_cmd"/>
<param from="in/emergency_stop" to="/external/selected/heartbeat"/>
<param from="in/current_gate_mode" to="/control/current_gate_mode"/>
<param from="in/odometry" to="/localization/kinematic_state"/>
<param from="out/control_cmd" to="/external/selected/control_cmd"/>
<param from="out/latest_external_control_cmd" to="/api/external/get/command/selected/control"/>
<param name="csv_path_accel_map" value="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
<param name="csv_path_brake_map" value="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
<param name="ref_vel_gain" value="3.0"/>
<param name="wait_for_first_topic" value="true"/>
<param name="control_command_timeout" value="1.0"/>
<param name="emergency_stop_timeout" value="3.0"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</node_container>
Comment on lines +133 to +171
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[Question] Why did you change here from IncludeLaunchDescription?

autoware.universe/launch/tier4_control_launch/launch/control.launch.py

Lines 199 to 223 in 0324e05

# external cmd selector
external_cmd_selector_loader = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[FindPackageShare("external_cmd_selector"), "/launch/external_cmd_selector.launch.py"]
),
launch_arguments=[
("use_intra_process", LaunchConfiguration("use_intra_process")),
("target_container", "/control/control_container"),
(
"external_cmd_selector_param_path",
LaunchConfiguration("external_cmd_selector_param_path"),
),
],
)
# external cmd converter
external_cmd_converter_loader = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[FindPackageShare("external_cmd_converter"), "/launch/external_cmd_converter.launch.py"]
),
launch_arguments=[
("use_intra_process", LaunchConfiguration("use_intra_process")),
("target_container", "/control/control_container"),
],
)

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Because it's more straightforward to write all the contents in xml, I think. There is only one load_composable_nodes in external_cmd_converter/selector python launch file.

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I think it's okay to replace it here. (It would be ideal to do it in another PR, though.)
Then, don't you need to remove the old .py files of external_cmd_converter/selector?


<load_composable_node target="/control/control_container" if="$(var enable_obstacle_collision_checker)">
<composable_node pkg="obstacle_collision_checker" plugin="obstacle_collision_checker::ObstacleCollisionCheckerNode" name="obstacle_collision_checker">
<remap from="input/lanelet_map_bin" to="/map/vector_map"/>
<remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<remap from="input/odometry" to="/localization/kinematic_state"/>
<param from="$(var obstacle_collision_checker_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>
</launch>