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feat(autoware_launch): apply the change of pose initializer #72

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merged 3 commits into from
Sep 15, 2022
Merged

feat(autoware_launch): apply the change of pose initializer #72

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9220ddf
feat(autoware_launch): apply the change of pose initializer
isamu-takagi Aug 2, 2022
237713a
fix: add group for include scope
isamu-takagi Sep 1, 2022
e88c589
Merge branch 'main' into feature/ad-api/pose-initializer
isamu-takagi Sep 15, 2022
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9 changes: 3 additions & 6 deletions autoware_launch/launch/autoware.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,6 @@
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- System -->
<arg name="system_run_mode" default="online" description="run mode in system"/>
<!-- API -->
<arg name="init_simulator_pose" default="false" description="initialize simulator pose"/>
<!-- 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"/>
Expand Down Expand Up @@ -122,10 +120,9 @@
</group>

<!-- API -->
<include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml">
<arg name="init_simulator_pose" value="$(var init_simulator_pose)"/>
<arg name="init_localization_pose" value="$(var launch_localization)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
</group>

<!-- Tools -->
<group>
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2 changes: 0 additions & 2 deletions autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -59,8 +59,6 @@
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="false"/>
<!-- API -->
<arg name="init_simulator_pose" value="false"/>
</include>
</group>
</launch>
14 changes: 3 additions & 11 deletions autoware_launch/launch/planning_simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -47,34 +47,26 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- API -->
<arg name="init_simulator_pose" value="true"/>
<!-- Tools -->
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_config" value="$(var rviz_config)"/>
<arg name="launch_web_controller" value="$(var launch_web_controller)"/>
</include>
</group>

<!-- Initial Pose Relay -->
<group>
<node pkg="topic_tools" exec="relay" name="initial_pose_2d">
<param name="input_topic" value="/initialpose"/>
<param name="output_topic" value="/initialpose2d"/>
<param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
</node>
</group>

<!-- Simulator -->
<group>
<let name="launch_dummy_perception" value="false" if="$(var scenario_simulation)"/>
<let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
<let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
<let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
<let name="launch_dummy_localization" value="false" if="$(var scenario_simulation)"/>
<let name="launch_dummy_localization" value="true" unless="$(var scenario_simulation)"/>

<include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
<arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
<arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
<arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
<arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
<arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
<arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
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