Merge pull request autowarefoundation#542 from tier4/sync-awf-latest

chore: sync awf-latest
maxime-clem · Aug 14, 2024 · f157421 · f157421
2 parents 5080dc1 + 2167c0b
commit f157421
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
-  <arg name="launch_dummy_localization"/>
+  <arg name="localization_sim_mode"/>
   <arg name="launch_dummy_doors"/>
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
@@ -18,7 +18,7 @@
   <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="localization_sim_mode" value="$(var localization_sim_mode)"/>
     <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
     <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -37,6 +37,12 @@
   <arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
   <!-- Simulated time -->
   <arg name="use_sim_time" default="$(var scenario_simulation)"/>
+  <!-- Localization-->
+  <arg
+    name="localization_sim_mode"
+    default="api"
+    description="Select localization mode. Options are 'none' or 'api'. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process."
+  />
 
   <group scoped="false">
     <!-- Vehicle -->
@@ -81,13 +87,12 @@
     <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="$(var scenario_simulation)"/>
-    <let name="launch_dummy_localization" value="true"/>
     <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
 
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(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="localization_sim_mode" value="$(var localization_sim_mode)"/>
       <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
       <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>