From 33c34411cc44f9ea21b7f19669934cb993d08ef5 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Wed, 9 Aug 2023 17:32:18 +0900
Subject: [PATCH] feat: launch V2X node in autoware launch (#349)

* feat: launch V2X node in autoware launch

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: TomohitoAndo <TomohitoAndo@users.noreply.github.com>
---
 autoware_launch/launch/autoware.launch.xml           | 10 ++++++++++
 autoware_launch/launch/logging_simulator.launch.xml  |  2 ++
 autoware_launch/launch/planning_simulator.launch.xml |  2 ++
 3 files changed, 14 insertions(+)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 1d3b850f60..a172314df5 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -22,6 +22,7 @@
   <arg name="launch_planning" default="true" description="launch planning"/>
   <arg name="launch_control" default="true" description="launch control"/>
   <arg name="launch_api" default="true" description="launch api"/>
+  <arg name="launch_v2x" default="true" description="launch V2X"/>
   <!-- Global parameters -->
   <arg name="use_sim_time" default="false" description="use_sim_time"/>
   <!-- Vehicle -->
@@ -125,6 +126,15 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
   </group>
 
+  <!-- V2X -->
+  <group if="$(var launch_v2x)">
+    <include file="$(find-pkg-share jpn_signal_launcher)/launch/jpn_signal.launch.xml">
+      <arg name="map_path" value="$(var map_path)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="vehicle_id" value="1"/>
+    </include>
+  </group>
+
   <!-- Tools -->
   <group>
     <node
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index b9af9106cf..cfb833083b 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -75,6 +75,8 @@
       <!-- Perception -->
       <arg name="centerpoint_model_path" value="$(var centerpoint_model_path)"/>
       <arg name="centerpoint_model_param_path" value="$(var centerpoint_model_param_path)"/>
+      <!-- V2X -->
+      <arg name="launch_v2x" value="false"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index d038e7096b..bb0a9f7711 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -72,6 +72,8 @@
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <arg name="is_simulation" value="true"/>
+      <!-- V2X -->
+      <arg name="launch_v2x" value="false"/>
     </include>
   </group>