Skip to content
This repository has been archived by the owner on Mar 27, 2023. It is now read-only.

chore: sync awf-latest-x2 #647

Merged
merged 4 commits into from
Dec 23, 2022
Merged

chore: sync awf-latest-x2 #647

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
03df265
feat(perception_launch): add launcher for pointpainting (#426)
tzhong518 Dec 22, 2022
f060a10
chore: sync launch files (#622)
tier4-autoware-public-bot[bot] Dec 22, 2022
a48fd1e
feat(behavior_path_planner): plan shift pull over/out on curve (#644)
kosuke55 Dec 22, 2022
2075635
feat(perception): change detection region (#630)
badai-nguyen Dec 22, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion autoware_launch/autoware_launch.drawio.svg
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
84 changes: 56 additions & 28 deletions autoware_launch/launch/autoware.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
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)"/>
Expand Down
65 changes: 65 additions & 0 deletions autoware_launch/launch/e2e_simulator.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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>
Loading