Feature/publisher with customizable randomizer #1503
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Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
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Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
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…ith-customizable-randomizer
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HansRobo
approved these changes
Feb 13, 2025
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Description
Abstract
This pull request adds the ability to randomize the value of any field in messages published by the
concealerpublisher.Additionally, a launch argument
parameter_file_pathhas been added toscenario_test_runnerthat accepts the path to the ROS 2 parameter file to specify the parameters to be given to the randomizer.Background
Previously, scenario_simulator_v2 could randomize some of the perception-related messages it published to Autoware (which is the responsibility of
simple_sensor_simulator), but not the localization-related ones (which is the responsibility ofconcealer).Recently, the Autoware development team requested the ability to randomize odometry out of localization, so we have implemented this and added a comprehensive parameter file to specify the parameters to be given to such a functionality.
Details
In this pull request, the randomizer is only enabled for those related to odometry.
The Localization topic randomizer can be configured from the ROS 2 parameter file given to the launch argument
parameter_file_pathof scenario_test_runner. The default value ofparameter_file_pathis the path to the sample parameter file.The parameter file was designed with the intention that in the future it will comprehensively handle the parameters given to the
simple_sensor_simulatorand theconcealerhandling publishers and subscribers. This includes parameters related to perception, which are currently specified by Properties in the OpenSCENARIO XML scenario file. Therefore, the parameter file includes information such asarchitecture_typevalues, message type names, topic type names, and other information that may be needed in the future (some of which is not used in this pull request).References
None.
Destructive Changes
None.
Known Limitations
None.