feat(awsim_labs_vehicle_launch): add a new vehicle_model with raw_vehicle_command_converter

NOTICE

@@ -1,4 +1,4 @@
-autowarefoundation/sample_vehicle_launch
+autowarefoundation/awsim_labs_vehicle_launch
 Copyright 2021 The Autoware Foundation
 
 This product includes software developed at

README.md

@@ -1 +1 @@
-# sample_vehicle_launch
+# awsim_labs_vehicle_launch

sample_vehicle_description/CMakeLists.txt → awsim_labs_vehicle_description/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(sample_vehicle_description)
+project(awsim_labs_vehicle_description)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)

sample_vehicle_description/package.xml → awsim_labs_vehicle_description/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>sample_vehicle_description</name>
+  <name>awsim_labs_vehicle_description</name>
   <version>0.1.0</version>
-  <description>The sample_vehicle_description package</description>
+  <description>The awsim_labs_vehicle_description package</description>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
   <license>Apache 2.0 License</license>

sample_vehicle_description/urdf/vehicle.xacro → awsim_labs_vehicle_description/urdf/vehicle.xacro

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <!-- load parameter -->
-  <xacro:property name="vehicle_info" value="${xacro.load_yaml('$(find sample_vehicle_description)/config/vehicle_info.param.yaml')}"/>
+  <xacro:property name="vehicle_info" value="${xacro.load_yaml('$(find awsim_vehicle_description)/config/vehicle_info.param.yaml')}"/>
 
   <!-- vehicle body -->
   <link name="base_link">
     <visual>
       <origin xyz="${vehicle_info['/**']['ros__parameters']['wheel_base']/2.0} 0 0" rpy="${pi/2.0} 0 ${pi}"/>
       <geometry>
-        <mesh filename="package://sample_vehicle_description/mesh/lexus.dae" scale="1 1 1"/>
+        <mesh filename="package://awsim_vehicle_description/mesh/lexus.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>

sample_vehicle_launch/CMakeLists.txt → awsim_labs_vehicle_launch/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(sample_vehicle_launch)
+project(awsim_labs_vehicle_launch)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)

awsim_labs_vehicle_launch/launch/vehicle_interface.launch.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
+  <arg name="input_control_cmd" default="/control/command/control_cmd"/>
+  <arg name="input_odometry" default="/localization/kinematic_state"/>
+  <arg name="input_steering" default="/vehicle/status/steering_status"/>
+  <arg name="output_actuation_cmd" default="/control/command/actuation_cmd"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
+
+  <node pkg="autoware_raw_vehicle_cmd_converter" exec="autoware_raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
+    <param from="$(var config_file)" allow_substs="true"/>
+    <remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
+    <remap from="~/input/odometry" to="$(var input_odometry)"/>
+    <remap from="~/input/steering" to="$(var input_steering)"/>
+    <remap from="~/output/actuation_cmd" to="$(var output_actuation_cmd)"/>
+  </node>
+</launch>

sample_vehicle_launch/package.xml → awsim_labs_vehicle_launch/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>sample_vehicle_launch</name>
+  <name>awsim_labs_vehicle_launch</name>
   <version>0.1.0</version>
-  <description>The sample_vehicle_launch package</description>
+  <description>The awsim_labs_vehicle_launch package</description>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
   <license>Apache 2.0 License</license>