From 30d55bf1f30f95081d0fc454e99feb7ea4f4648e Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 29 Feb 2024 11:51:41 +0900
Subject: [PATCH] feat: add is_simulation variable in autoware.launch.xml
 (#889)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml                      | 2 ++
 .../launch/components/tier4_planning_component.launch.xml       | 2 ++
 autoware_launch/launch/planning_simulator.launch.xml            | 1 +
 3 files changed, 5 insertions(+)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index a5daf3dd16..f446f4c34b 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -45,6 +45,7 @@
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
+  <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -104,6 +105,7 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
       <arg name="module_preset" value="$(var planning_module_preset)"/>
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="$(var is_simulation)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 3d57f6198e..f093ce8133 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -3,12 +3,14 @@
   <!-- NOTE: optional parameters are written here -->
   <arg name="module_preset" default="default"/>
   <arg name="enable_all_modules_auto_mode" default="false"/>
+  <arg name="is_simulation" default="false"/>
   <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+    <arg name="is_simulation" value="$(var is_simulation)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 882ea9d9f9..93c4485206 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -69,6 +69,7 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="true"/>
     </include>
   </group>