Merge pull request #861 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Mar 16, 2023 · 4d63843 · 4d63843
2 parents 034197a + e151b62
commit 4d63843
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Showing 9 changed files with 71 additions and 16 deletions.
diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: true
+    ekf_enabled: true
+    stop_check_enabled: false
diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: true
+    ekf_enabled: true
+    stop_check_enabled: true
diff --git a/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gnss_enabled: false
+    ndt_enabled: false
+    ekf_enabled: false
+    stop_check_enabled: false
diff --git a/autoware_launch/config/localization/pose_initializer_common.param.yaml b/autoware_launch/config/localization/pose_initializer_common.param.yaml
@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    gnss_pose_timeout: 3.0 # [sec]
+    stop_check_duration: 3.0 # [sec]
+
+    # from gnss
+    gnss_particle_covariance:
+      [
+        1.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 1.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  10.0,
+      ]
+
+    # output
+    output_pose_covariance:
+      [
+        1.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 1.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  0.2,
+      ]
diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -6,7 +6,7 @@
     launch_intersection: true
     launch_blind_spot: true
     launch_detection_area: true
-    launch_virtual_traffic_light: true
+    launch_virtual_traffic_light: false # disabled by default to not confuse newcomers
     launch_occlusion_spot: false
     launch_no_stopping_area: true
     launch_run_out: false

diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -1,5 +1,5 @@
 - module: map
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: launch
   args:
     node_name_suffix: vector_map
@@ -12,7 +12,7 @@
     timeout: 0.0
 
 - module: map
-  mode: [online]
+  mode: [online, logging_simulation]
   type: launch
   args:
     node_name_suffix: pointcloud_map
@@ -25,7 +25,7 @@
     timeout: 0.0
 
 - module: localization
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: initialpose3d
@@ -38,7 +38,7 @@
     timeout: 0.0
 
 - module: localization
-  mode: [online]
+  mode: [online, logging_simulation]
   type: autonomous
   args:
     node_name_suffix: pose_twist_fusion_filter_pose
@@ -51,7 +51,7 @@
     timeout: 1.0
 
 - module: perception
-  mode: [online]
+  mode: [online, logging_simulation]
   type: launch
   args:
     node_name_suffix: obstacle_segmentation_pointcloud
@@ -64,7 +64,7 @@
     timeout: 1.0
 
 - module: perception
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: object_recognition_objects
@@ -77,7 +77,7 @@
     timeout: 1.0
 
 - module: planning
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: mission_planning_route
@@ -90,7 +90,7 @@
     timeout: 0.0
 
 - module: planning
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: scenario_planning_trajectory
@@ -103,7 +103,7 @@
     timeout: 1.0
 
 - module: control
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: trajectory_follower_control_cmd
@@ -116,7 +116,7 @@
     timeout: 1.0
 
 - module: control
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: control_command_control_cmd
@@ -129,7 +129,7 @@
     timeout: 1.0
 
 - module: vehicle
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: vehicle_status_velocity_status
@@ -142,7 +142,7 @@
     timeout: 1.0
 
 - module: vehicle
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: vehicle_status_steering_status
@@ -155,7 +155,7 @@
     timeout: 1.0
 
 - module: system
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: launch
   args:
     node_name_suffix: system_emergency_control_cmd
@@ -168,7 +168,7 @@
     timeout: 1.0
 
 - module: localization
-  mode: [online, planning_simulation]
+  mode: [online, logging_simulation, planning_simulation]
   type: autonomous
   args:
     node_name_suffix: transform_map_to_base_link

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -1,5 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+  <let name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)"/>
+  <let
+    name="pose_initializer_param_path"
+    value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.logging_simulator.param.yaml"
+    if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)"
+  />
+
   <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
@@ -9,5 +16,7 @@
     <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
     <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
     <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
+    <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -32,5 +32,7 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
+    <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.planning_simulator.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -56,7 +56,7 @@
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->
       <arg name="launch_system" value="$(var system)"/>
-      <arg name="system_run_mode" value="online"/>
+      <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Map -->