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fix: add group to each section (#5)
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* chore: apply pre-commit

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix: add group

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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kenji-miyake authored Feb 24, 2022
1 parent 3f01cd9 commit f90fa31
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Showing 3 changed files with 149 additions and 109 deletions.
122 changes: 71 additions & 51 deletions autoware_launch/launch/autoware.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -12,79 +12,99 @@
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>

<!-- Global parameters -->
<!-- Do not add "group" in order to propagate global parameters -->
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
</include>

<!-- Pointcloud container -->
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
<group>
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<!-- Vehicle -->
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
</group>

<!-- System -->
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="online"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="online"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
</group>

<!-- Map -->
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
</include>
</group>

<!-- Sensing -->
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
<arg name="launch_driver" value="true"/>
<arg name="sensor_model" value="$(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 $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_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 $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<!-- Localization -->
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
</include>
<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml"/>
</group>

<!-- Perception -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="lidar"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="lidar"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<!-- Planning -->
<include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
</group>

<!-- Control -->
<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
<arg name="lateral_controller_mode" value="mpc_follower"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
<arg name="lateral_controller_mode" value="mpc_follower"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
</group>

<!-- Rviz -->
<node
pkg="rviz2"
exec="rviz2"
name="rviz2"
output="screen"
args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
>
</node>
<!-- Tools -->
<group>
<!-- Rviz -->
<node
pkg="rviz2"
exec="rviz2"
name="rviz2"
output="screen"
args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
/>

<!-- Web Controller -->
<include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
<!-- Web Controller -->
<include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
</group>

</launch>
52 changes: 28 additions & 24 deletions autoware_launch/launch/logging_simulator.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -26,16 +26,19 @@
<arg name="scenario_simulation" default="false" description="use scenario simulation"/>

<!-- Global parameters -->
<!-- Do not add "group" in order to propagate global parameters -->
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
<arg name="use_sim_time" value="true"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
</include>

<!-- Pointcloud container -->
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
<group>
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<!-- Vehicle -->
<group>
Expand Down Expand Up @@ -77,8 +80,7 @@

<!-- Localization -->
<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml" if="$(var localization)">
</include>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml" if="$(var localization)"/>
</group>

<!-- Perception -->
Expand Down Expand Up @@ -106,27 +108,29 @@
</include>
</group>

<!-- Rviz -->
<node
pkg="rviz2"
exec="rviz2"
name="rviz2"
output="screen"
args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
>
</node>

<!-- Web Controller -->
<!-- Tools -->
<group>
<!-- Rviz -->
<node
pkg="rviz2"
exec="rviz2"
name="rviz2"
output="screen"
args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
/>

<!-- Web Controller -->
<include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
</group>

<!-- Simulator -->
<include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
<arg name="scenario_simulation" value="$(var scenario_simulation)"/>
<arg name="vehicle_simulation" value="false"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
<arg name="scenario_simulation" value="$(var scenario_simulation)"/>
<arg name="vehicle_simulation" value="false"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
</group>
</launch>
84 changes: 50 additions & 34 deletions autoware_launch/launch/planning_simulator.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -24,58 +24,74 @@
</include>

<!-- Vehicle -->
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="simulation" value="$(var vehicle_simulation)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="simulation" value="$(var vehicle_simulation)"/>
</include>
</group>

<!-- System -->
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="planning_simulation"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="planning_simulation"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
</group>

<!-- Map -->
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
</include>
</group>

<!-- Planning -->
<include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
</group>

<!-- Control -->
<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
<!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
<arg name="lateral_controller_mode" value="mpc_follower"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
<!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
<arg name="lateral_controller_mode" value="mpc_follower"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</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>

<!-- Rviz -->
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
<group>
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>

<!-- Web Controller -->
<include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
<!-- Web Controller -->
<include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
</group>

<!-- Simulator -->
<include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
<arg name="scenario_simulation" value="$(var scenario_simulation)"/>
<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="$(var sensing/visible_range)"/>
<arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="initial_engage_state" value="$(var initial_engage_state)"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
<arg name="scenario_simulation" value="$(var scenario_simulation)"/>
<arg name="perception/enable_detection_failure" value="$(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)"/>
<arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="initial_engage_state" value="$(var initial_engage_state)"/>
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
</group>
</launch>

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