Fix ros2 lsim launch

autoware_launch/launch/logging_simulator.launch.xml

@@ -1,10 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+
   <!-- Essential parameters -->
   <arg name="map_path" doc="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model"/>
   <arg name="sensor_model"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
+
   <!-- Optional parameters -->
   <arg name="vehicle" default="true" doc="launch vehicle" />
   <arg name="system" default="true" doc="launch system" />
@@ -20,55 +22,79 @@
   <set_env name="AW_ROS2_USE_SIM_TIME" value="true" />
 
   <!-- Vehicle -->
-  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_description.launch.xml" if="$(var vehicle)">
-    <arg name="vehicle_model" value="$(var vehicle_model)"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
-    <arg name="vehicle_id" value="$(var vehicle_id)"/>
-    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_description.launch.xml" if="$(var vehicle)">
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 
   <!-- System -->
-  <include file="$(find-pkg-share system_launch)/launch/system.launch.xml" if="$(var system)">
-    <arg name="run_mode" value="online"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share system_launch)/launch/system.launch.xml" if="$(var system)">
+      <arg name="run_mode" value="online"/>
+    </include>
+  </group>
+
 
   <!-- Map -->
-  <include file="$(find-pkg-share map_launch)/launch/map.launch.xml" if="$(var map)">
-    <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="$(find-pkg-share map_launch)/launch/map.launch.xml" if="$(var map)">
+      <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="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml" if="$(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 $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(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"/>
+    </include>
+  </group>
+
 
   <!-- Localization -->
-  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)">
-  </include>
+  <group>
+    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)">
+    </include>
+  </group>
+
 
   <!-- Perception -->
-  <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
-    <arg name="mode" value="lidar" doc="options: camera_lidar_fusion, lidar, camera"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
+      <arg name="mode" value="lidar" doc="options: camera_lidar_fusion, lidar, camera"/>
+    </include>
+  </group>
+
 
   <!-- Planning -->
-  <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
-  </include>
+  <group>
+    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
+    </include>
+  </group>
 
   <!-- Control -->
-  <include file="$(find-pkg-share control_launch)/launch/control.launch.xml" if="$(var control)">
-    <arg name="lateral_controller_mode" value="mpc_follower" doc="options: mpc_follower, pure_pursuit"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share control_launch)/launch/control.launch.xml" if="$(var control)">
+      <arg name="lateral_controller_mode" value="mpc_follower" doc="options: mpc_follower, pure_pursuit"/>
+    </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)"  >
     <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
   </node>
 
   <!-- Web Controller -->
-  <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />
+  <group>
+    <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />
+  </group>
+
 </launch>

localization_launch/launch/util/util.launch.xml

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/sensing/lidar/pointcloud" doc="Sensor points topic"/>
+  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" doc="Sensor points topic"/>
   <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" doc="Sensor points topic"/>
   <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" doc="Sensor points topic"/>
   <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" doc="Sensor points topic"/>
@@ -16,7 +16,7 @@
   </include>
 
   <node pkg="pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter_measurement_range" output="log">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)" />
     <remap from="input" to="$(var input_sensor_points_topic)" />
     <remap from="output" to="$(var output_measurement_range_sensor_points_topic)" />
     <param name="min_x" value="-60.0" />
@@ -25,12 +25,11 @@
     <param name="max_y" value="60.0" />
     <param name="min_z" value="-30.0" />
     <param name="max_z" value="50.0" />
-    <param name= "negative" value="False" />
+    <param name="negative" value="False" />
     <param name="input_frame" value="$(var base_frame)" />
     <param name="output_frame" value="$(var base_frame)" />
   </node>
 
-
   <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
   <node pkg="pointcloud_preprocessor" exec="voxel_grid_downsample_filter_node" name="voxel_grid_filter" output="log">
     <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -46,7 +46,7 @@
                    autoware_planning_msgs/msg/LaneChangeCommand 'command: true' -r 10"/>
 
   <node pkg="turn_signal_decider" exec="turn_signal_decider" name="turn_signal_decider" output="screen">
-    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)" />
     <remap from="input/path_with_lane_id" to="path_with_lane_id" />
     <remap from="input/vector_map" to="$(var map_topic_name)" />
     <remap from="output/turn_signal_cmd" to="/planning/turn_signal_decider/turn_signal_cmd" />

sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py

@@ -121,21 +121,6 @@ def launch_setup(context, *args, **kwargs):
         }]
     )
 
-    relay_component = ComposableNode(
-        package='topic_tools',
-        plugin='topic_tools::RelayNode',
-        name='relay',
-        parameters=[{
-            "input_topic": "/sensing/lidar/top/rectified/pointcloud",
-            "output_topic": "/sensing/lidar/pointcloud",
-            "type": "sensor_msgs/msg/PointCloud2",
-            "history": "keep_last",
-            "depth": 5,
-            "reliability": "best_effort",
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
@@ -145,7 +130,6 @@ def launch_setup(context, *args, **kwargs):
         composable_node_descriptions=[
             cropbox_component,
             ground_component,
-            relay_component,
         ],
         output='screen',
         parameters=[{

sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py

@@ -121,21 +121,6 @@ def launch_setup(context, *args, **kwargs):
         }]
     )
 
-    relay_component = ComposableNode(
-        package='topic_tools',
-        plugin='topic_tools::RelayNode',
-        name='relay',
-        parameters=[{
-            "input_topic": "/sensing/lidar/top/rectified/pointcloud",
-            "output_topic": "/sensing/lidar/pointcloud",
-            "type": "sensor_msgs/msg/PointCloud2",
-            "history": "keep_last",
-            "depth": 5,
-            "reliability": "best_effort",
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
@@ -145,7 +130,6 @@ def launch_setup(context, *args, **kwargs):
         composable_node_descriptions=[
             cropbox_component,
             ground_component,
-            relay_component,
         ],
         output='screen',
         parameters=[{

sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py

@@ -123,21 +123,6 @@ def launch_setup(context, *args, **kwargs):
         }]
     )
 
-    relay_component = ComposableNode(
-        package='topic_tools',
-        plugin='topic_tools::RelayNode',
-        name='relay',
-        parameters=[{
-            "input_topic": "/sensing/lidar/top/rectified/pointcloud",
-            "output_topic": "/sensing/lidar/pointcloud",
-            "type": "sensor_msgs/msg/PointCloud2",
-            "history": "keep_last",
-            "depth": 5,
-            "reliability": "best_effort",
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
@@ -148,7 +133,6 @@ def launch_setup(context, *args, **kwargs):
             concat_component,
             cropbox_component,
             ground_component,
-            relay_component,
         ],
         output='screen',
         parameters=[{

sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py

@@ -121,21 +121,6 @@ def launch_setup(context, *args, **kwargs):
         }]
     )
 
-    relay_component = ComposableNode(
-        package='topic_tools',
-        plugin='topic_tools::RelayNode',
-        name='relay',
-        parameters=[{
-            "input_topic": "/sensing/lidar/top/rectified/pointcloud",
-            "output_topic": "/sensing/lidar/pointcloud",
-            "type": "sensor_msgs/msg/PointCloud2",
-            "history": "keep_last",
-            "depth": 5,
-            "reliability": "best_effort",
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
@@ -145,7 +130,6 @@ def launch_setup(context, *args, **kwargs):
         composable_node_descriptions=[
             cropbox_component,
             ground_component,
-            relay_component,
         ],
         output='screen',
         parameters=[{

sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py

@@ -121,21 +121,6 @@ def launch_setup(context, *args, **kwargs):
         }]
     )
 
-    relay_component = ComposableNode(
-        package='topic_tools',
-        plugin='topic_tools::RelayNode',
-        name='relay',
-        parameters=[{
-            "input_topic": "/sensing/lidar/top/rectified/pointcloud",
-            "output_topic": "/sensing/lidar/pointcloud",
-            "type": "sensor_msgs/msg/PointCloud2",
-            "history": "keep_last",
-            "depth": 5,
-            "reliability": "best_effort",
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }],
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
@@ -145,7 +130,6 @@ def launch_setup(context, *args, **kwargs):
         composable_node_descriptions=[
             cropbox_component,
             ground_component,
-            relay_component,
         ],
         output='screen',
         parameters=[{