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Merge pull request #648 from tier4/sync-awf-latest
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chore: sync awf-latest
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@tier4-autoware-public-bot
tier4-autoware-public-bot[bot] authored Dec 23, 2022
2 parents 670de29 + 166f153 commit 5ce396f
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Showing 11 changed files with 482 additions and 411 deletions.
2 changes: 1 addition & 1 deletion autoware_launch/autoware_launch.drawio.svg
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84 changes: 56 additions & 28 deletions autoware_launch/launch/autoware.launch.xml
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Expand Up @@ -4,85 +4,112 @@
<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_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>

<!-- Optional parameters -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<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="pointcloud_container_name" default="pointcloud_container"/>

<!-- Optional parameters -->
<!-- Modules to be launched -->
<arg name="launch_vehicle" default="true" description="launch vehicle"/>
<arg name="launch_system" default="true" description="launch system"/>
<arg name="launch_map" default="true" description="launch map"/>
<arg name="launch_sensing" default="true" description="launch sensing"/>
<arg name="launch_sensing_driver" default="true" description="launch sensing driver"/>
<arg name="launch_localization" default="true" description="launch localization"/>
<arg name="launch_perception" default="true" description="launch perception"/>
<arg name="launch_planning" default="true" description="launch planning"/>
<arg name="launch_control" default="true" description="launch control"/>
<!-- Global parameters -->
<arg name="use_sim_time" default="false" description="use_sim_time"/>
<!-- Vehicle -->
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/>
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<arg name="cruise_planner_type" default="obstacle_stop_planner" description="type of cruise planner"/>
<!-- System -->
<arg name="system_run_mode" default="online" description="run mode in system"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
<!-- 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 -->
<!-- Do not add "group" in order to propagate global parameters -->
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
</include>
<group scoped="false">
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
</include>
</group>

<!-- Pointcloud container -->
<group>
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
<arg name="use_multithread" value="true" />
<group if="$(var use_pointcloud_container)">
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<!-- Vehicle -->
<group>
<group if="$(var launch_vehicle)">
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="launch_vehicle_interface" value="true"/>
<arg name="vehicle_id" value="$(var vehicle_id)"/>
<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
<arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
</include>
</group>

<!-- System -->
<group>
<group if="$(var launch_system)">
<include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="online"/>
<arg name="run_mode" value="$(var system_run_mode)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
</group>

<!-- Map -->
<group>
<group if="$(var launch_map)">
<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
</include>
</group>

<!-- Sensing -->
<group>
<group if="$(var launch_sensing)">
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
<arg name="launch_driver" value="true"/>
<arg name="launch_driver" value="$(var launch_sensing_driver)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="perception_mode" value="$(var perception_mode)"/>
</include>
</group>

<!-- Localization -->
<group>
<group if="$(var launch_localization)">
<include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml"/>
</group>

<!-- Perception -->
<group>
<group if="$(var launch_perception)">
<include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var perception_mode)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
</include>
</group>

<!-- Planning -->
<group>
<group if="$(var launch_planning)">
<include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -91,10 +118,11 @@
</group>

<!-- Control -->
<group>
<group if="$(var launch_control)">
<include file="$(find-pkg-share control_launch)/launch/control.launch.xml">
<!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
<arg name="lateral_controller_mode" value="mpc_follower" />
<arg name="lateral_controller_mode" value="mpc_follower"/>
<arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
</include>
</group>

Expand All @@ -111,7 +139,7 @@
exec="rviz2"
name="rviz2"
output="screen"
args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
/>
<include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
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65 changes: 65 additions & 0 deletions autoware_launch/launch/e2e_simulator.launch.xml
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@@ -0,0 +1,65 @@
<?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"/>

<!-- 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"/>

<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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