From e220cc8219ea742f1c8b56aa42ce170f61a638d5 Mon Sep 17 00:00:00 2001
From: Keisuke Shima <keisuke.shima@tier4.jp>
Date: Wed, 28 Apr 2021 23:27:13 +0900
Subject: [PATCH] Feature/porting v0.9.1 master (#202)

* add simulation arg (#174)

* add simulation arg

* add comment

* change arg name

* add parameter use_empty_dynamic_object_publisher into perception.launch (#176)

Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>

Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp>
Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com>
---
 launch/autoware_launch/launch/planning_simulator.launch.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/launch/autoware_launch/launch/planning_simulator.launch.xml b/launch/autoware_launch/launch/planning_simulator.launch.xml
index b387fc7c19d0b..b4d6b9afd4452 100644
--- a/launch/autoware_launch/launch/planning_simulator.launch.xml
+++ b/launch/autoware_launch/launch/planning_simulator.launch.xml
@@ -17,13 +17,15 @@
   <arg name="scenario_simulation" default="false"/>
   <arg name="use_sim_time" default="false" />
   <set_parameter name="use_sim_time" value="$(var use_sim_time)" />
+  <!-- Optional parameters for vcu emulation -->
+  <arg name="vehicle_simulation" default="true"/>
 
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="simulation" value="true"/>
+    <arg name="simulation" value="$(var vehicle_simulation)"/>
     <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
     <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
   </include>