Fix remapping in control.launch.py

[rej55]

PR Type

• Improvement

Related Links

Description

Fix control launch to run planning simulator.

TODO:
Fix remapping when external_cmd_selector and external_cmd_converter is ported

Review Procedure

Run planning simulator and check control modules does not die.

Remarks

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[tkimura4]

/control/trajectory_follower/lateral_controller_node_exe
  Subscribers:
    /localization/kinematic_state: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /planning/scenario_planning/trajectory: autoware_auto_planning_msgs/msg/Trajectory
    /vehicle/status/steering_status: autoware_auto_vehicle_msgs/msg/SteeringReport
  Publishers:
    /control/trajectory_follower/lateral/control_cmd: autoware_auto_control_msgs/msg/AckermannLateralCommand
    /control/trajectory_follower/lateral/diagnostic: autoware_auto_system_msgs/msg/Float32MultiArrayDiagnostic
    /control/trajectory_follower/lateral/predicted_trajectory: autoware_auto_planning_msgs/msg/Trajectory
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log

/control/trajectory_follower/longitudinal_controller_node_exe
  Subscribers:
    /localization/kinematic_state: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /planning/scenario_planning/trajectory: autoware_auto_planning_msgs/msg/Trajectory
  Publishers:
    /control/trajectory_follower/longitudinal/control_cmd: autoware_auto_control_msgs/msg/LongitudinalCommand
    /control/trajectory_follower/longitudinal/diagnostic: autoware_auto_system_msgs/msg/Float32MultiArrayDiagnostic
    /control/trajectory_follower/longitudinal/slope_angle: autoware_auto_system_msgs/msg/Float32MultiArrayDiagnostic
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log

/control/trajectory_follower/latlon_muxer_node_exe
  Subscribers:
    /control/trajectory_follower/lateral/control_cmd: autoware_auto_control_msgs/msg/AckermannLateralCommand
    /control/trajectory_follower/longitudinal/control_cmd: autoware_auto_control_msgs/msg/LongitudinalCommand
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /control/trajectory_follower/control_cmd: autoware_auto_control_msgs/msg/AckermannControlCommand
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log

/control/vehicle_cmd_gate
  Subscribers:
    /autoware/engage: autoware_auto_vehicle_msgs/msg/Engage
    /control/gate_mode_cmd: autoware_control_msgs/msg/GateMode
    /control/input/external/gear_cmd: autoware_auto_vehicle_msgs/msg/GearCommand
    /control/input/external/hazard_lights_cmd: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
    /control/input/external/turn_indicators_cmd: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand
    /control/shift_decider/gear_cmd: autoware_auto_vehicle_msgs/msg/GearCommand
    /control/trajectory_follower/control_cmd: autoware_auto_control_msgs/msg/AckermannControlCommand
    /external/selected/control_cmd: autoware_auto_control_msgs/msg/AckermannControlCommand
    /external/selected/heartbeat: autoware_external_api_msgs/msg/Heartbeat
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /planning/hazard_lights_cmd: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
    /planning/turn_indicators_cmd: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand
    /system/emergency/control_cmd: autoware_auto_control_msgs/msg/AckermannControlCommand
    /system/emergency/emergency_state: autoware_auto_system_msgs/msg/EmergencyState
    /system/emergency/gear_cmd: autoware_auto_vehicle_msgs/msg/GearCommand
    /system/emergency/hazard_lights_cmd: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
    /vehicle/status/steering_status: autoware_auto_vehicle_msgs/msg/SteeringReport
  Publishers:
    /api/autoware/get/emergency: autoware_external_api_msgs/msg/Emergency
    /api/autoware/get/engage: autoware_auto_vehicle_msgs/msg/Engage
    /control/command/control_cmd: autoware_auto_control_msgs/msg/AckermannControlCommand
    /control/command/emergency_cmd: autoware_vehicle_msgs/msg/VehicleEmergencyStamped
    /control/command/gear_cmd: autoware_auto_vehicle_msgs/msg/GearCommand
    /control/command/hazard_lights_cmd: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
    /control/command/turn_indicators_cmd: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand
    /control/current_gate_mode: autoware_control_msgs/msg/GateMode
    /diagnostics: diagnostic_msgs/msg/DiagnosticArray
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log

[tkimura4]

ros2 topic echo /control/trajectory_follower/control_cmd -> OK.
ros2 topic echo /control/command/control_cmd -> OK.

[tkimura4]

LGTM!