Setting concealer use_sim_time manually instead of using global argum…

…ents. Signed-off-by: Paweł Lech <pawel.lech@robotec.ai>
tier4 · Dec 19, 2023 · 0970a4c · 0970a4c
1 parent 3b4b547
commit 0970a4c
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Showing 6 changed files with 10 additions and 8 deletions.
diff --git a/external/concealer/src/autoware.cpp b/external/concealer/src/autoware.cpp
@@ -17,7 +17,7 @@
 namespace concealer
 {
 Autoware::Autoware()
-: rclcpp::Node("concealer", "simulation", rclcpp::NodeOptions().use_global_arguments(true)),
+: rclcpp::Node("concealer", "simulation", rclcpp::NodeOptions().use_global_arguments(false)),
   current_acceleration(geometry_msgs::msg::Accel()),
   current_twist(geometry_msgs::msg::Twist()),
   current_pose(geometry_msgs::msg::Pose())

diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.cpp b/rviz_plugins/real_time_factor_control_rviz_plugin/src/real_time_factor_slider.cpp
@@ -48,7 +48,7 @@ void RealTimeFactorSliderPanel::onChangedRealTimeFactorValue(int real_time_facto
   value_label_->setText(QString("x ") + QString::number(msg.data, 'f', 2));
 }
 
-void RealTimeFactorSliderPanel::onInitialize()
+auto RealTimeFactorSliderPanel::onInitialize() -> void
 {
   rclcpp::Node::SharedPtr raw_node =
     this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();

diff --git a/...or_simulator/include/simple_sensor_simulator/vehicle_simulation/ego_entity_simulation.hpp b/...or_simulator/include/simple_sensor_simulator/vehicle_simulation/ego_entity_simulation.hpp
@@ -78,7 +78,7 @@ class EgoEntitySimulation
 
   explicit EgoEntitySimulation(
     const traffic_simulator_msgs::msg::VehicleParameters &, double,
-    const std::shared_ptr<hdmap_utils::HdMapUtils> &);
+    const std::shared_ptr<hdmap_utils::HdMapUtils> &, const rclcpp::Parameter & use_sim_time);
 
   auto update(double time, double step_time, bool npc_logic_started) -> void;
 

diff --git a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp
@@ -208,7 +208,8 @@ auto ScenarioSimulator::spawnVehicleEntity(
     traffic_simulator_msgs::msg::VehicleParameters parameters;
     simulation_interface::toMsg(req.parameters(), parameters);
     ego_entity_simulation_ = std::make_shared<vehicle_simulation::EgoEntitySimulation>(
-      parameters, step_time_, hdmap_utils_);
+      parameters, step_time_, hdmap_utils_,
+      get_parameter_or("use_sim_time", rclcpp::Parameter("use_sim_time", false)));
     traffic_simulator_msgs::msg::EntityStatus initial_status;
     initial_status.name = parameters.name;
     simulation_interface::toMsg(req.pose(), initial_status.pose);

diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -33,12 +33,14 @@ static auto getParameter(const std::string & name, T value = {})
 
 EgoEntitySimulation::EgoEntitySimulation(
   const traffic_simulator_msgs::msg::VehicleParameters & parameters, double step_time,
-  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils)
+  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils,
+  const rclcpp::Parameter & use_sim_time)
 : autoware(std::make_unique<concealer::AutowareUniverse>()),
   vehicle_model_type_(getVehicleModelType()),
   vehicle_model_ptr_(makeSimulationModel(vehicle_model_type_, step_time, parameters)),
   hdmap_utils_ptr_(hdmap_utils)
 {
+  autoware->set_parameter(use_sim_time);
 }
 
 auto toString(const VehicleModelType datum) -> std::string

diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py
@@ -171,8 +171,7 @@ def description():
             namespace="simulation",
             output="screen",
             on_exit=ShutdownOnce(),
-            parameters=[{"port": port}]+make_vehicle_parameters()+[{"use_sim_time": True}],
-            # parameters=[{"port": port}]+make_vehicle_parameters(),
+            parameters=[{"port": port}, {"use_sim_time": True}]+make_vehicle_parameters(),
             condition=IfCondition(launch_simple_sensor_simulator),
         ),
         # The `name` keyword overrides the name for all created nodes, so duplicated nodes appear.
@@ -185,7 +184,7 @@ def description():
             executable="openscenario_interpreter_node",
             namespace="simulation",
             output="screen",
-            parameters=make_parameters(),
+            parameters=[{"use_sim_time": True}]+make_parameters(),
             on_exit=ShutdownOnce(),
         ),
         Node(