From ed6f9b7ba6e4962bdf64ee0e0f33176ba42bca92 Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Date: Wed, 12 Aug 2020 16:27:11 +0900
Subject: [PATCH] Logging simulator (#65)

* Add logging_simulator.launch

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* Don't load env when launch driver is false

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
---
 launch/autoware_launch/launch/autoware.launch |  6 +-
 .../launch/logging_simulator.launch           | 70 +++++++++++++++++++
 2 files changed, 71 insertions(+), 5 deletions(-)
 create mode 100644 launch/autoware_launch/launch/logging_simulator.launch

diff --git a/launch/autoware_launch/launch/autoware.launch b/launch/autoware_launch/launch/autoware.launch
index 9324b7df507a5..f1b72306ee8ed 100644
--- a/launch/autoware_launch/launch/autoware.launch
+++ b/launch/autoware_launch/launch/autoware.launch
@@ -5,13 +5,10 @@
   <arg name="vehicle_model"/>
   <arg name="sensor_model"/>
   <!-- Optional parameters -->
-  <arg name="rosbag" default="false" doc="use rosbag data"/>
   <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="$(arg rosbag)" />
-
   <!-- Vehicle -->
   <include file="$(find vehicle_launch)/launch/vehicle.launch">
     <arg name="vehicle_model" value="$(arg vehicle_model)"/>
@@ -31,8 +28,7 @@
 
   <!-- Sensing -->
   <include file="$(find sensing_launch)/launch/sensing.launch">
-    <arg name="launch_driver" value="true" unless="$(arg rosbag)"/>
-    <arg name="launch_driver" value="false" if="$(arg rosbag)"/>
+    <arg name="launch_driver" value="true"/>
     <arg name="sensor_model" value="$(arg sensor_model)"/>
   </include>
 
diff --git a/launch/autoware_launch/launch/logging_simulator.launch b/launch/autoware_launch/launch/logging_simulator.launch
new file mode 100644
index 0000000000000..675df2d413ce9
--- /dev/null
+++ b/launch/autoware_launch/launch/logging_simulator.launch
@@ -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>