From 3aa6f84b8524baeb479efc08d1b21ddfacd07091 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Fri, 15 Mar 2024 15:43:11 +0900
Subject: [PATCH 01/18] added line for CARLA bridge

---
 .../launch/e2e_simulator.launch.xml           | 23 +++++++++++--------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 902d9bc33c..8226a45c29 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
-  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
-  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="carla" default="false" description="simulation used"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -20,6 +20,7 @@
   <arg name="perception" default="true" description="launch perception"/>
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
+
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
@@ -31,15 +32,18 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"
-  />
+
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+
+  <group if="$(var carla)">
+    <include file="$(find-pkg-share carla_autoware)/carla_ros.launch.xml"/>
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+  </group>
+
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->
@@ -58,7 +62,7 @@
       <arg name="launch_planning" value="$(var planning)"/>
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
-      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="use_sim_time" value="true"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- Map -->
@@ -67,7 +71,6 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

From 763562f45bb06fecda6b460558f5de99f002d6a1 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Fri, 15 Mar 2024 15:43:57 +0900
Subject: [PATCH 02/18] added line for CARLA bridge

---
 .../launch/e2e_simulator.launch.xml           | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 8226a45c29..b95006e72a 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -1,12 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="carla" default="false" description="simulation used"/>
 
+
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
 
@@ -20,7 +22,6 @@
   <arg name="perception" default="true" description="launch perception"/>
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
-
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
@@ -32,18 +33,21 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-
+  <arg
+    name="system_error_monitor_param_path"
+    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+    description="system error monitor param path"
+  />
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
-
   <group if="$(var carla)">
     <include file="$(find-pkg-share carla_autoware)/carla_ros.launch.xml"/>
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
   </group>
 
+
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->
@@ -62,7 +66,7 @@
       <arg name="launch_planning" value="$(var planning)"/>
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
-      <arg name="use_sim_time" value="true"/>
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- Map -->
@@ -71,6 +75,7 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

From 8c93748bd0afe248d617c8ba41f2f53f8d1f9b32 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 15 Mar 2024 07:29:51 +0000
Subject: [PATCH 03/18] style(pre-commit): autofix

---
 autoware_launch/launch/e2e_simulator.launch.xml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index b95006e72a..7a4424d9aa 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -8,7 +8,6 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="carla" default="false" description="simulation used"/>
 
-
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
 
@@ -47,7 +46,6 @@
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
   </group>
 
-
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->

From 278cd9f164f0a98fd8d53594246866cf39f2366f Mon Sep 17 00:00:00 2001
From: Giovanni Muhammad Raditya <mraditya01@yahoo.com>
Date: Fri, 15 Mar 2024 16:39:10 +0900
Subject: [PATCH 04/18] Update autoware_launch/launch/e2e_simulator.launch.xml

Fixed Description

Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
---
 autoware_launch/launch/e2e_simulator.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 7a4424d9aa..f1d17094d3 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,7 +6,7 @@
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="carla" default="false" description="simulation used"/>
+  <arg name="carla" default="false" description="also launch the interface with the CARLA simulator"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>

From 76e7f22e15fcbcaee3aac3d3ba25a1ba6cf3fe38 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 18 Mar 2024 12:04:25 +0900
Subject: [PATCH 05/18] Fixed arguments and added conditional string

---
 .../launch/e2e_simulator.launch.xml           | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index f1d17094d3..89e08d1bee 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,7 +6,7 @@
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="carla" default="false" description="also launch the interface with the CARLA simulator"/>
+  <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -32,20 +32,23 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"
-  />
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
-  <group if="$(var carla)">
+  <group if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_ros.launch.xml"/>
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
   </group>
 
+  <group if="$(eval '\'$(var simulator_type)\' == \'awsim\'')">
+    <arg
+    name="system_error_monitor_param_path"
+    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+    description="system error monitor param path"/>
+  </group>
+
+
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->
@@ -84,4 +87,4 @@
       <arg name="rviz_config" value="$(var rviz_config)"/>
     </include>
   </group>
-</launch>
+</launch>
\ No newline at end of file

From 33bd0d3a07ee05f7cb61111804cc234f4f8faa0c Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 18 Mar 2024 03:05:13 +0000
Subject: [PATCH 06/18] style(pre-commit): autofix

---
 autoware_launch/launch/e2e_simulator.launch.xml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 89e08d1bee..25ce3bdf4e 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -43,12 +43,12 @@
 
   <group if="$(eval '\'$(var simulator_type)\' == \'awsim\'')">
     <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"/>
+      name="system_error_monitor_param_path"
+      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+      description="system error monitor param path"
+    />
   </group>
 
-
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->
@@ -87,4 +87,4 @@
       <arg name="rviz_config" value="$(var rviz_config)"/>
     </include>
   </group>
-</launch>
\ No newline at end of file
+</launch>

From 2f8f680758e9ec551f41c919a8bd23e01b8be6be Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <maxime.clement@tier4.jp>
Date: Tue, 19 Mar 2024 18:27:21 +0900
Subject: [PATCH 07/18] fix launch issue

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
---
 autoware_launch/launch/e2e_simulator.launch.xml | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 25ce3bdf4e..5c65b8df90 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -36,12 +36,17 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
-  <group if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_ros.launch.xml"/>
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+    <arg
+      name="system_error_monitor_param_path"
+      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"
+      description="system error monitor param path"
+    />
   </group>
 
-  <group if="$(eval '\'$(var simulator_type)\' == \'awsim\'')">
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'awsim\'')">
     <arg
       name="system_error_monitor_param_path"
       default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"

From 1d73dc7c1199ef7114373316441702e130172e0e Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 22 Apr 2024 16:14:59 +0900
Subject: [PATCH 08/18] small updates following new method

---
 autoware_launch/launch/e2e_simulator.launch.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 5c65b8df90..081ece312b 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -37,7 +37,6 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
-    <include file="$(find-pkg-share carla_autoware)/carla_ros.launch.xml"/>
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
     <arg
       name="system_error_monitor_param_path"

From cc95ae1fcb8199172832789620358f105449a7d8 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Fri, 3 May 2024 13:52:24 +0900
Subject: [PATCH 09/18] added map feature for carla

---
 autoware_launch/launch/e2e_simulator.launch.xml | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 081ece312b..88d2a18119 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
-  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
-  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
+
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
 
@@ -32,15 +32,19 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
+
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
-    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml">
+      <arg name="map_name" value="$(var map_path)"/>
+    </include>
     <arg
       name="system_error_monitor_param_path"
-      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"
+      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
       description="system error monitor param path"
     />
   </group>
@@ -71,7 +75,7 @@
       <arg name="launch_planning" value="$(var planning)"/>
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
-      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="use_sim_time" value="true"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- Map -->
@@ -80,7 +84,6 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

From b124a8fe19428e932dc0f5f4aa0e2f51fd2676be Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 13 May 2024 09:26:37 +0900
Subject: [PATCH 10/18] added automatic map load for CARLA

---
 autoware_launch/launch/e2e_simulator.launch.xml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 88d2a18119..ac6fac7bb0 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -7,7 +7,6 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
-
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
 
@@ -32,12 +31,11 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  
+
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
-
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml">
       <arg name="map_name" value="$(var map_path)"/>

From 68d9df834ddb82330af453adfa49d4b245dd2d35 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 13 May 2024 09:33:55 +0900
Subject: [PATCH 11/18] fixed small changes

---
 autoware_launch/launch/e2e_simulator.launch.xml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index ac6fac7bb0..68c46d2506 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -1,9 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
@@ -73,7 +74,7 @@
       <arg name="launch_planning" value="$(var planning)"/>
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
-      <arg name="use_sim_time" value="true"/>
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- Map -->

From a894e21a482350932e2b26fa41d87e3ef347326a Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 13 May 2024 09:36:05 +0900
Subject: [PATCH 12/18] fixed small changes

---
 autoware_launch/launch/e2e_simulator.launch.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 68c46d2506..3578fd347d 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -83,6 +83,7 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

From a0b08e11014a70ab505f44c320d593e968902238 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Wed, 15 May 2024 10:43:27 +0900
Subject: [PATCH 13/18] fixed some issue with map loading

---
 autoware_launch/launch/e2e_simulator.launch.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 3578fd347d..2aab2db9d9 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -7,6 +7,7 @@
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
+  <arg name="carla_map" default="Town01" description="Map used for CARLA"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -39,7 +40,7 @@
 
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml">
-      <arg name="map_name" value="$(var map_path)"/>
+      <arg name="carla_map_name" value="$(var carla_map)"/>
     </include>
     <arg
       name="system_error_monitor_param_path"

From 32c45c1cd2c433c1e2983211873c71763f183e9d Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 20 May 2024 10:56:42 +0900
Subject: [PATCH 14/18] removed carla_map param

---
 autoware_launch/launch/e2e_simulator.launch.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 2aab2db9d9..b08ad4b4fd 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -7,7 +7,6 @@
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
-  <arg name="carla_map" default="Town01" description="Map used for CARLA"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>

From 9c77b7b4e8c25deb1a960f286e4e3df321fa5655 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 20 May 2024 11:33:45 +0900
Subject: [PATCH 15/18] removed carla_map param

---
 autoware_launch/launch/e2e_simulator.launch.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index b08ad4b4fd..7acb2c3d8a 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -39,7 +39,6 @@
 
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml">
-      <arg name="carla_map_name" value="$(var carla_map)"/>
     </include>
     <arg
       name="system_error_monitor_param_path"

From d9e6407d904a6d7a41cac25ca2ba9e129b7c7dda Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Mon, 20 May 2024 11:34:39 +0900
Subject: [PATCH 16/18] removed carla_map param

---
 autoware_launch/launch/e2e_simulator.launch.xml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 7acb2c3d8a..69dbd8d8fb 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -38,8 +38,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
-    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml">
-    </include>
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
     <arg
       name="system_error_monitor_param_path"
       default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"

From 151ec74433bd5da5970efb91d235b4d62ef092fd Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Thu, 23 May 2024 14:42:03 +0900
Subject: [PATCH 17/18] removed multiple same args

---
 autoware_launch/launch/e2e_simulator.launch.xml | 17 +++++------------
 1 file changed, 5 insertions(+), 12 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 69dbd8d8fb..ce2df6d9f2 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -39,20 +39,13 @@
 
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
-    <arg
-      name="system_error_monitor_param_path"
-      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-      description="system error monitor param path"
-    />
   </group>
 
-  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'awsim\'')">
-    <arg
-      name="system_error_monitor_param_path"
-      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-      description="system error monitor param path"
-    />
-  </group>
+  <arg
+    name="system_error_monitor_param_path"
+    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+    description="system error monitor param path"
+  />
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">

From ee860d715eaca97f2a98b82862ee2ca5c6664c43 Mon Sep 17 00:00:00 2001
From: mraditya01 <mraditya01@yahoo.com>
Date: Thu, 23 May 2024 14:53:22 +0900
Subject: [PATCH 18/18] fixed some categorization

---
 autoware_launch/launch/e2e_simulator.launch.xml | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index ce2df6d9f2..0899b6055f 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -32,21 +32,18 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-
+  <arg
+    name="system_error_monitor_param_path"
+    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+    description="system error monitor param path"
+  />
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
-
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
   </group>
 
-  <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"
-  />
-
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->