feat(autoware_launch): add controller mode options to launch file #107

brkay54 · 2022-11-02T10:11:46Z

Description

This PR enables user to specify the lateral and longitudinal controller type.
It should be merged after this PR merged!

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takayuki5168 · 2022-11-09T00:59:55Z

autoware_launch/launch/planning_simulator.launch.xml

+      <!-- Control -->
+      <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+      <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+      <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>


Could you check whether the option works when launching planning_simulator.launch.xml even if we discard the change of planning_simulator.launch.xml.

"discard the change of planning_simulator.launch.xml": you mean that different options in autoware.launch.xml and planning_simulator.launch.xml right? Do we want to test that planning_simulator.launch.xml can overwrites the autoware.launch.xml properly?

Not the different options.

This is an example of tier4/autoware_launch
cruise_planner_type in autoware.launch.xml can be designated when launching planning_simualtor.launch.xml like ros2 launch autoware_launch planning_simulator.launch.xml cruise_planner_type:=obstacle_stop_planner even though planning_simulator.launch.xml does not have an argument of cruise_planner_type.

Therefore, in the same way, in this PR, we do not have to add longitudinal_controller_mode in planning_simulator.launch.xml.

Oh I see, I tested both scenarios (with removing lateral_controller_mode from planning_simulator.launch.xml and without removing it). We can assign mode from terminal (like you said), and it worked.

So could you remove lateral_controller_mode from launch files other than autoware.launch.xml. It worked well, right?

Yes, I removed from planning_simulator.launch.xml and worked.

@takayuki5168 can we resolve this conversation?

Sorry for misunderstanding, my college just warned me. I removed options from planning_simulator.launch.xml and pushed new commit. Would you check it again?

xmfcx · 2022-12-13T15:18:05Z

@brkay54 could you rebase this PR?

@takayuki5168 could you review this again? This is urgent for the bus odd project.

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

takayuki5168 · 2023-01-10T08:02:12Z

@brkay54 @xmfcx Sorry about the delay due to the vacation.
Recently, almost the same change was merged to awf/autoware_launch.

autoware_launch/autoware_launch/launch/autoware.launch.xml

Lines 126 to 127 in 0d5e54a

    
           <arg name="lateral_controller_mode" value="mpc"/> 
        
           <arg name="longitudinal_controller_mode" value="pid"/>

brkay54 · 2023-01-10T09:13:50Z

@takayuki5168 I see, thank you! I am going to close the PR. However, because these parameters were not declared as global parameters in autoware.launch.xml, we can not change them in command line. I am going to create PR for this.

* ci: add build CI Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: add files for Ansible Galaxy Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: copy ansible files from tier4's proposal Remove cache_valid_time Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> v0.4.0 Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> copy setup Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> add ros2 ansible roles Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> ansible add ubuntu20 setup Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> ansible fix pacmod Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> temp disable cuda & tensorrt Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> ansible fix kvaser library repo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> temporally comment out for unused modules Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> remove unused codes Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Install osqp only once (autowarefoundation#95) * update readme and fix osqp_vendor tag * Remove ansible osqp role fix: ansbile role Closes autowarefoundation#140 add ansible for cuda 11.1 & tensorrt 7.2.1 & cudnn 8.0.5 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> add script for install livox sdk Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> add ansible sdk task Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> Use Livox vendor package (autowarefoundation#156) * Use Livox vendor package * Removed Livox SDK from ansible * Use upstream Livox ROS2 driver Install kvaser library Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Update ansible/localhost-setup-ubuntu20.04-devpc.yml Install kvaser library from origin Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Update ansible/localhost-setup-ubuntu20.04-devpc.yml install vcstool and do vcs import in ansible setup (autowarefoundation#170) Update documents and fix typos * update install instructions * remove redundant statements * fix typos Separate Ansible tasks related to vcs import to new role (autowarefoundation#180) * Separate Ansible tasks related to vcs import to new role * Move the Ansible task to install vcstool to the ROS2 role Add rmw-cyclonedds-cpp to ansible (autowarefoundation#67) * Add rmw-cyclonedds-cpp to ansible Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add settings to .bashrc Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix setup script typos (autowarefoundation#202) (autowarefoundation#73) Signed-off-by: Lalith Vipulananthan <63835446+LalithVipulananthan@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Revive pacmod role (autowarefoundation#103) * Revert "Install kvaser library from origin" This reverts commit 3859fffd60164febbaacc2f68b045d3b0d07f3d6. Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ROS role Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> install pip before rosdep (autowarefoundation#72) Fix: Update GPG key download task for ROS2 (autowarefoundation#125) * Fix: Update GPG key download task for ROS2 * Fix: Update comments, source list Add pre-commit CI (autowarefoundation#167) * Add pre-commit CI Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add .prettierrc.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore some markdownlint rules Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Move to ROS2 Galactic (autowarefoundation#107) * Fix rosdistro in ansible Fix rosdistro other than autoware in ansible (autowarefoundation#146) * Use upstream grid_map Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove rosbag2 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Change position of ecu_system_setup section Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing_packages in galactic Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add ros2/rosbag2 galactic to repos Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Purge installed rosbag2 to build it from source Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Add TODO comment to repos Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Install ros-galactic-ros2cli-common-extensions in ansible (autowarefoundation#183) * Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Install ros-galactic-ros2cli-common-extensions in ansible Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Add descriptions of rosbag2 purge Use apt installed rosbag2 (autowarefoundation#189) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Remove vcs import in ansible (autowarefoundation#198) * Remove vcs import in ansible Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update installation steps Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> fix gdown install command (autowarefoundation#214) Simplify ansible files (autowarefoundation#122) * Simplify ansible files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add build-pr.yml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> add libtorch (autowarefoundation#131) (autowarefoundation#191) * add libtorch (autowarefoundation#131) * add libtorch * update libtorch 1.6.0 -> 1.8.1 * libtorch for CUDA 11.1 * use the same command * libtorch 1.8.1 -> 1.6.0 * add LibTorch for CUDA 11.1 * change install order * Deprecate 18.04 support for libtorch Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> fix libtorch install (autowarefoundation#196) Feature/remove pacmod3 (autowarefoundation#349) * remove pacmod3 * Remove kvaser_interface from repos Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix ansible Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix vcs import action Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Run pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> add go dependency for pre-commit (autowarefoundation#388) * add go dependency by snap install --classic * move install-go from autoware/ to pre-commit/ * update playbook.yml * use apt without snap to install golang * chore: clean up files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix: specify pip3 executable to prevent pipx to be used Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: add docker role Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix: use ansible_user_id instead of ansible_env.USER root user doesn't have ansible_env.USER. Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: fix verbose option Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: remove libtorch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: add --no-nvidia option Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * style: rename ansible_options to ansible_args Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: update CUDA versions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: fix scripts around sudo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: support arm64-sbsa in CUDA role Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci: add ARM build Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: comment out simulator repositories autowarefoundation/autoware#21 Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

brkay54 requested review from takayuki5168, shmpwk and kenji-miyake November 2, 2022 10:11

brkay54 self-assigned this Nov 2, 2022

brkay54 mentioned this pull request Nov 8, 2022

feat(autoware_launch): add obstacle_collision_checker to launch #106

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takayuki5168 reviewed Nov 9, 2022

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brkay54 force-pushed the add-controller-option branch from 7826a05 to 5befa02 Compare November 11, 2022 15:31

brkay54 requested a review from takayuki5168 November 14, 2022 07:36

brkay54 force-pushed the add-controller-option branch from 5befa02 to 9b02a56 Compare November 16, 2022 09:04

brkay54 force-pushed the add-controller-option branch 2 times, most recently from 77f89b2 to 042b37e Compare December 5, 2022 10:43

Berkay Karaman and others added 2 commits December 16, 2022 13:05

feat(autoware_launch): add controller mode options to launch file

fb09f5e

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

removed options from planning_simulator.launch.xml

e60cd88

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

brkay54 force-pushed the add-controller-option branch from 042b37e to e60cd88 Compare December 16, 2022 10:05

brkay54 closed this Jan 10, 2023

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feat(autoware_launch): add controller mode options to launch file #107

feat(autoware_launch): add controller mode options to launch file #107

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feat(autoware_launch): add controller mode options to launch file #107

feat(autoware_launch): add controller mode options to launch file #107

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