refactor(autoware_launch): remove control_launch, and use tier4_contr…

…ol_launch instead (autowarefoundation#700)

* refactor(autoware_launch): remove control_launch, and use tier4_control_launch instead

Signed-off-by: Takayuki Murooka <[email protected]>

* remove control_launch

Signed-off-by: Takayuki Murooka <[email protected]>

* ci(pre-commit): autofix

* ci(pre-commit): autofix

Signed-off-by: Takayuki Murooka <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    update_rate: 10.0
+    initial_selector_mode: "local" # ["local", "remote"]

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    visualize_lanelet: false
+
+    # Core
+    footprint_margin_scale: 1.0
+    resample_interval: 0.3
+    max_deceleration: 2.8
+    delay_time: 1.3
+    max_lateral_deviation: 2.0
+    max_longitudinal_deviation: 2.0
+    max_yaw_deviation_deg: 60.0
+    delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point

autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+
+    # Core
+    delay_time: 0.03 # delay time of vehicle [s]
+    footprint_margin: 0.0 # margin for footprint [m]
+    max_deceleration: 1.5 # max deceleration [m/ss]
+    resample_interval: 0.3 # interval distance to resample point cloud [m]
+    search_radius: 5.0 # search distance from trajectory to point cloud [m]

autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    ld_velocity_ratio: 2.4
+    ld_lateral_error_ratio: 3.6
+    ld_curvature_ratio: 120.0
+    long_ld_lateral_error_threshold: 0.5
+    min_lookahead_distance: 4.35
+    max_lookahead_distance: 15.0
+    converged_steer_rad: 0.1
+    reverse_min_lookahead_distance: 7.0
+    prediction_ds: 0.3
+    prediction_distance_length: 21.0
+    resampling_ds: 0.1
+    curvature_calculation_distance: 4.0
+    enable_path_smoothing: false
+    path_filter_moving_ave_num: 25

control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml → autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -2,6 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
+    use_emergency_handling: false
+    check_external_emergency_heartbeat: false
+    use_start_request: false
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4

autoware_launch/launch/autoware.launch.xml

@@ -35,8 +35,6 @@
   <!-- Perception -->
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
-  <!-- Control -->
-  <arg name="check_external_emergency_heartbeat" default="false" description="check external emergency heartbeat"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -120,13 +118,13 @@
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
-      <!-- options for lateral_controller_mode: mpc, pure_pursuit -->
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="enable_obstacle_collision_checker" value="false"/>
       <arg name="lateral_controller_mode" value="mpc"/>
       <arg name="longitudinal_controller_mode" value="pid"/>
-      <arg name="lat_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml"/>
-      <arg name="lon_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml"/>
-      <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
+      <arg name="use_individual_control_param" value="false"/>
     </include>
   </group>
 

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="vehicle_param_file"/>
+  <arg name="vehicle_id"/>
+  <arg name="enable_obstacle_collision_checker"/>
+  <arg name="lateral_controller_mode"/>
+  <arg name="longitudinal_controller_mode"/>
+  <arg name="use_individual_control_param"/>
+
+  <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
+  <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
+
+  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+
+    <!-- option -->
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="vehicle_id" value="$(var vehicle_id)"/>
+    <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+    <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
+    <arg
+      name="lat_controller_param_path"
+      value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/$(var latlon_controller_param_path_dir)/lateral/$(var lateral_controller_mode).param.yaml"
+    />
+    <arg
+      name="lon_controller_param_path"
+      value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/$(var latlon_controller_param_path_dir)/longitudinal/$(var longitudinal_controller_mode).param.yaml"
+    />
+    <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+    <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
+
+    <!-- common param path -->
+    <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>
+
+    <!-- package param path -->
+    <arg name="lat_controller_param_path" value="$(var lat_controller_param_path)"/>
+    <arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
+    <arg name="vehicle_cmd_gate_param_path" value="$(find-pkg-share autoware_launch)/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
+    <arg name="lane_departure_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/lane_departure_checker/lane_departure_checker.param.yaml"/>
+    <arg name="operation_mode_transition_manager_param_path" value="$(find-pkg-share autoware_launch)/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
+    <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
+    <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
+    <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
+  </include>
+</launch>

autoware_launch/launch/planning_simulator.launch.xml

@@ -47,8 +47,6 @@
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
-      <!-- Control -->
-      <arg name="check_external_emergency_heartbeat" value="false"/>
     </include>
   </group>
 

autoware_launch/package.xml

@@ -11,14 +11,14 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>ad_api_adaptors</exec_depend>
-  <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_autoware_api_launch</exec_depend>
+  <exec_depend>tier4_control_launch</exec_depend>
   <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_perception_launch</exec_depend>