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Merge pull request #648 from tier4/sync-awf-latest
chore: sync awf-latest
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<!-- Essential parameters --> | ||
<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"/> | ||
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<!-- Optional parameters --> | ||
<!-- Modules to be launched --> | ||
<arg name="vehicle" default="true" description="launch vehicle"/> | ||
<arg name="system" default="true" description="launch system"/> | ||
<arg name="map" default="true" description="launch map"/> | ||
<arg name="sensing" default="true" description="launch sensing"/> | ||
<arg name="localization" default="true" description="launch localization"/> | ||
<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"/> | ||
<!-- Control --> | ||
<arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/> | ||
<!-- Vehicle --> | ||
<arg name="launch_vehicle_interface" default="false"/> | ||
<!-- System --> | ||
<arg name="launch_system_monitor" default="false" description="launch system monitor"/> | ||
<!-- Tools --> | ||
<arg name="rviz" default="true" description="launch rviz"/> | ||
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/> | ||
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<group scoped="false"> | ||
<include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml"> | ||
<!-- Common --> | ||
<arg name="map_path" value="$(var map_path)"/> | ||
<arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
<arg name="sensor_model" value="$(var sensor_model)"/> | ||
<!-- Modules to be launched --> | ||
<arg name="launch_vehicle" value="$(var vehicle)"/> | ||
<arg name="launch_map" value="$(var map)"/> | ||
<arg name="launch_sensing" value="$(var sensing)"/> | ||
<arg name="launch_localization" value="$(var localization)"/> | ||
<arg name="launch_perception" value="$(var perception)"/> | ||
<arg name="launch_planning" value="$(var planning)"/> | ||
<arg name="launch_control" value="$(var control)"/> | ||
<!-- Global parameters --> | ||
<arg name="use_sim_time" value="true"/> | ||
<!-- Vehicle --> | ||
<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/> | ||
<!-- Map --> | ||
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/> | ||
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/> | ||
<!-- Control --> | ||
<arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/> | ||
<!-- System --> | ||
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/> | ||
<!-- Sensing --> | ||
<arg name="launch_sensing_driver" value="false"/> | ||
<!-- Perception--> | ||
<arg name="traffic_light_recognition/enable_fine_detection" value="false"/> | ||
<!-- Tools --> | ||
<arg name="rviz" value="$(var rviz)"/> | ||
<arg name="rviz_config" value="$(var rviz_config)"/> | ||
</include> | ||
</group> | ||
</launch> |
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