chore: sync launch files

autoware_launch/launch/autoware.launch.xml

@@ -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)"/>
@@ -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>
 
@@ -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)"/>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -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>