Merge pull request #213 from tier4/sync-upstream

chore: sync upstream

autoware_launch/launch/autoware.launch.xml

@@ -45,7 +45,6 @@
   <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml">
     <arg name="launch_driver" value="true"/>
     <arg name="sensor_model" value="$(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="$(var pointcloud_container_name)"/>
@@ -59,7 +58,6 @@
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <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>

autoware_launch/launch/logging_simulator.launch.xml

@@ -69,7 +69,6 @@
     <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml" if="$(var sensing)">
       <arg name="launch_driver" value="false"/>
       <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="$(var pointcloud_container_name)"/>
@@ -87,7 +86,6 @@
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="lidar" />
-      <arg name="vehicle_param_file" value="$(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>

perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -48,17 +48,17 @@ def __init__(self, context):
         self.use_time_series_filter = self.ground_segmentation_param["use_time_series_filter"]
 
     def get_vehicle_info(self):
-        path = LaunchConfiguration("vehicle_param_file").perform(self.context)
-        with open(path, "r") as f:
-            p = yaml.safe_load(f)["/**"]["ros__parameters"]
-        p["vehicle_length"] = p["front_overhang"] + p["wheel_base"] + p["rear_overhang"]
-        p["vehicle_width"] = p["wheel_tread"] + p["left_overhang"] + p["right_overhang"]
-        p["min_longitudinal_offset"] = -p["rear_overhang"]
-        p["max_longitudinal_offset"] = p["front_overhang"] + p["wheel_base"]
-        p["min_lateral_offset"] = -(p["wheel_tread"] / 2.0 + p["right_overhang"])
-        p["max_lateral_offset"] = p["wheel_tread"] / 2.0 + p["left_overhang"]
+        # TODO: need to rename key from "ros_params" to "global_params" after Humble
+        gp = self.context.launch_configurations.get("ros_params", {})
+        p = {}
+        p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"]
+        p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"]
+        p["min_longitudinal_offset"] = -gp["rear_overhang"]
+        p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
+        p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
+        p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
         p["min_height_offset"] = 0.0
-        p["max_height_offset"] = p["vehicle_height"]
+        p["max_height_offset"] = gp["vehicle_height"]
         return p
 
     def get_vehicle_mirror_info(self):
@@ -509,7 +509,6 @@ def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
     add_launch_arg("base_frame", "base_link")
-    add_launch_arg("vehicle_param_file")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")

perception_launch/launch/perception.launch.xml

@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 
 <launch>
-  <arg name="vehicle_param_file" />
   <!-- common parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
@@ -35,7 +34,6 @@
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
         <arg name="base_frame" value="base_link" />
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
         <arg name="use_intra_process" value="true" />
         <arg name="use_multithread" value="true" />
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />

sensing_launch/README.md

@@ -16,7 +16,6 @@ You can include as follows in `*.launch.xml` to use `sensing.launch.xml`.
   <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml">
     <arg name="launch_driver" value="true"/>
     <arg name="sensor_model" value="$(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"/>
   </include>
 ```

sensing_launch/launch/sensing.launch.xml

@@ -2,7 +2,6 @@
 
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="sensor_model" description="sensor model name"/>
-  <arg name="vehicle_param_file" description="path to the file of vehicle info yaml"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
@@ -15,7 +14,6 @@
     <!-- Driver -->
     <include file="$(var sensor_launch_pkg)/launch/sensing.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>