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chore: sync launch files #622
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chore: sync launch files
kminoda 7afdee2
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ci(pre-commit): autofix
pre-commit-ci[bot] 37bbcc0
Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/planning_simulator.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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add rviz config
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/autoware.launch.xml
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Update autoware_launch/launch/logging_simulator.launch.xml
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Update autoware_launch/launch/logging_simulator.launch.xml
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Update autoware_launch/launch/logging_simulator.launch.xml
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Update autoware_launch/launch/logging_simulator.launch.xml
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Update autoware_launch/launch/planning_simulator.launch.xml
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Update autoware_launch/launch/planning_simulator.launch.xml
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Update autoware_launch/launch/planning_simulator.launch.xml
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Update autoware_launch/launch/planning_simulator.launch.xml
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Update autoware_launch/launch/planning_simulator.launch.xml
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Merge branch 'awf-latest' into sync-launch-files
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Update autoware_launch/rviz/autoware.rviz
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Update autoware_launch/rviz/autoware.rviz
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Update autoware_launch/rviz/autoware.rviz
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Update autoware_launch/rviz/autoware.rviz
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Update autoware_launch/rviz/autoware.rviz
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fix for rviz
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Update autoware_launch/rviz/autoware.rviz
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Update autoware_launch/rviz/autoware.rviz
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@@ -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="$(env VEHICLE_ID default)" description="vehicle specific ID"/> | ||
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<!-- Optional parameters --> | ||
<arg name="rviz" default="true" description="launch rviz"/> | ||
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<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/> | ||
<arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/> | ||
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||
<arg name="pointcloud_container_name" default="pointcloud_container"/> | ||
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<!-- Optional parameters --> | ||
<!-- Modules to be launched --> | ||
<arg name="launch_vehicle" default="true" description="launch vehicle"/> | ||
<arg name="launch_system" default="true" description="launch system"/> | ||
<arg name="launch_map" default="true" description="launch map"/> | ||
<arg name="launch_sensing" default="true" description="launch sensing"/> | ||
<arg name="launch_sensing_driver" default="true" description="launch sensing driver"/> | ||
<arg name="launch_localization" default="true" description="launch localization"/> | ||
<arg name="launch_perception" default="true" description="launch perception"/> | ||
<arg name="launch_planning" default="true" description="launch planning"/> | ||
<arg name="launch_control" default="true" description="launch control"/> | ||
<!-- Global parameters --> | ||
<arg name="use_sim_time" default="false" description="use_sim_time"/> | ||
<!-- Vehicle --> | ||
<arg name="vehicle_id" default="$(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="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/> | ||
<!-- Perception --> | ||
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<arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/> | ||
<arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/> | ||
<!-- Control --> | ||
<arg name="check_external_emergency_heartbeat" default="false" description="check external emergency heartbeat"/> | ||
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<!-- Global parameters --> | ||
<!-- Do not add "group" in order to propagate global parameters --> | ||
<include file="$(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> | ||
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<!-- 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="$(var pointcloud_container_name)"/> | ||
</include> | ||
</group> | ||
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<!-- Vehicle --> | ||
<group> | ||
<group if="$(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="$(var launch_vehicle_interface)"/> | ||
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<arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/> | ||
</include> | ||
</group> | ||
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<!-- 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> | ||
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<!-- 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> | ||
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<!-- 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)"/> | ||
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<arg name="perception_mode" value="$(var perception_mode)"/> | ||
</include> | ||
</group> | ||
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<!-- Localization --> | ||
<group> | ||
<group if="$(var launch_localization)"> | ||
<include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml"/> | ||
</group> | ||
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<!-- Perception --> | ||
<group> | ||
<group if="$(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> | ||
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<!-- 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)"/> | ||
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@@ -91,10 +118,11 @@ | |
</group> | ||
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<!-- 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"/> | ||
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<arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/> | ||
</include> | ||
</group> | ||
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@@ -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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@@ -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"/> | ||
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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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以下に移動
https://github.com/tier4/autoware_launch/pull/622/files#diff-50750b08f3020bc2dd51ea26edb44963eac70e078996276ec18859efa308a18bR24