Merge pull request #750 from tier4/sync-awf-autoware-launch

chore: sync awf/autoware_launch
tier4 · Feb 7, 2023 · cbdae10 · cbdae10
2 parents 4b3ff22 + afadbca
commit cbdae10
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Showing 7 changed files with 28 additions and 45 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -67,6 +67,12 @@
     # Regularization scale factor
     regularization_scale_factor: 0.01
 
+    # Dynamic map loading distance
+    dynamic_map_loading_update_distance: 20.0
+
+    # Dynamic map loading loading radius
+    dynamic_map_loading_map_radius: 150.0
+
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -26,7 +26,6 @@
   <!-- 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 -->
@@ -109,31 +108,12 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
-      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg
-        name="behavior_path_planner_tree_param_path"
-        value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
-      />
-      <arg name="cruise_planner_type" value="obstacle_stop_planner"/>
-      <arg name="use_experimental_lane_change_function" value="false"/>
-      <arg name="use_surround_obstacle_check" value="true"/>
-      <arg name="smoother_type" value="JerkFiltered"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"/>
   </group>
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(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="use_individual_control_param" value="false"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/>
   </group>
 
   <!-- API -->

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -1,22 +1,18 @@
 <?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"/>
+  <!-- optional parameters are written here -->
+  <arg name="lateral_controller_mode" default="mpc"/>
+  <arg name="longitudinal_controller_mode" default="pid"/>
+  <arg name="use_individual_control_param" default="false"/>
 
   <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="$(var vehicle_param_file)"/>
+    <arg name="vehicle_param_file" value="$(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="$(var enable_obstacle_collision_checker)"/>
+    <arg name="enable_obstacle_collision_checker" value="false"/>
     <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
     <arg
       name="lat_controller_param_path"

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -1,18 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="vehicle_param_file"/>
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
+  <!-- NOTE: optional parameters are written here -->
   <!-- behavior -->
-  <arg name="behavior_path_planner_tree_param_path"/>
+  <arg name="use_experimental_lane_change_function" default="false"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="use_surround_obstacle_check"/>
-  <arg name="smoother_type" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
-  <arg name="use_experimental_lane_change_function"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="use_surround_obstacle_check" default="true"/>
+  <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="smoother_type" value="$(var smoother_type)"/>
@@ -47,7 +44,10 @@
       name="drivable_area_expansion_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
     />
-    <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_planner_tree_param_path)"/>
+    <arg
+      name="behavior_path_planner_tree_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
+    />
     <arg
       name="behavior_path_planner_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -19,7 +19,6 @@
   <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 -->
@@ -49,8 +48,6 @@
       <!-- 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 -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -24,6 +24,8 @@
   <!-- 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"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <!-- Scenario simulation -->

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -9,6 +9,8 @@
   <!-- 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"/>
+  <!-- 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"/>