forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Logging simulator (autowarefoundation#65)
* Add logging_simulator.launch Signed-off-by: Daisuke Nishimatsu <[email protected]> * Don't load env when launch driver is false Signed-off-by: Daisuke Nishimatsu <[email protected]>
- Loading branch information
Showing
2 changed files
with
71 additions
and
5 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,70 @@ | ||
<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<!-- Essential parameters --> | ||
<arg name="map_path" doc="point cloud and lanelet2 map directory path"/> | ||
<arg name="vehicle_model"/> | ||
<arg name="sensor_model"/> | ||
<!-- Optional parameters --> | ||
<arg name="vehicle" default="true" doc="launch vehicle" /> | ||
<arg name="system" default="true" doc="launch system" /> | ||
<arg name="map" default="true" doc="launch map" /> | ||
<arg name="sensing" default="true" doc="launch sensing" /> | ||
<arg name="localization" default="true" doc="launch localization" /> | ||
<arg name="perception" default="true" doc="launch perception" /> | ||
<arg name="planning" default="true" doc="launch planning" /> | ||
<arg name="control" default="true" doc="launch control" /> | ||
<arg name="rviz" default="true" doc="launch rviz" /> | ||
<arg name="lanelet2_map_file" default="lanelet2_map.osm" /> | ||
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" /> | ||
<param name="/use_sim_time" value="true" /> | ||
|
||
<!-- Vehicle --> | ||
<include file="$(find vehicle_launch)/launch/vehicle.launch" if="$(arg vehicle)"> | ||
<arg name="vehicle_model" value="$(arg vehicle_model)"/> | ||
<arg name="sensor_model" value="$(arg sensor_model)"/> | ||
<arg name="simulation" value="true"/> | ||
</include> | ||
|
||
<!-- System --> | ||
<include file="$(find system_launch)/launch/system.launch" if="$(arg system)"> | ||
<arg name="run_mode" value="online"/> | ||
</include> | ||
|
||
<!-- Map --> | ||
<include file="$(find map_launch)/launch/map.launch" if="$(arg map)"> | ||
<arg name="lanelet2_map_path" value="$(arg map_path)/$(arg lanelet2_map_file)" /> | ||
<arg name="pointcloud_map_path" value="$(arg map_path)/$(arg pointcloud_map_file)"/> | ||
</include> | ||
|
||
<!-- Sensing --> | ||
<include file="$(find sensing_launch)/launch/sensing.launch" if="$(arg sensing)"> | ||
<arg name="launch_driver" value="false"/> | ||
<arg name="sensor_model" value="$(arg sensor_model)"/> | ||
</include> | ||
|
||
<!-- Localization --> | ||
<include file="$(find localization_launch)/launch/localization.launch" if="$(arg localization)"> | ||
</include> | ||
|
||
<!-- Perception --> | ||
<include file="$(find perception_launch)/launch/perception.launch" if="$(arg perception)"> | ||
<arg name="mode" value="lidar" doc="options: camera_lidar_fusion, lidar, camera"/> | ||
</include> | ||
|
||
<!-- Planning --> | ||
<include file="$(find planning_launch)/launch/planning.launch" if="$(arg planning)"/> | ||
|
||
<!-- Control --> | ||
<include file="$(find control_launch)/launch/control.launch" if="$(arg control)"> | ||
<arg name="lateral_controller_mode" value="mpc_follower" doc="options: mpc_follower, pure_pursuit"/> | ||
</include> | ||
|
||
<!-- Rviz --> | ||
<node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find autoware_launch)/rviz/autoware.rviz" if="$(arg rviz)" /> | ||
|
||
<!-- Web Controller --> | ||
<include file="$(find roswww)/launch/roswww.launch"> | ||
<arg name="cached" value="false"/> | ||
</include> | ||
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> | ||
</launch> |