diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index a2f9a9b489bba..26feca221667c 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -44,7 +44,7 @@ - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 49be3e16ab9ae..9dd604812b08e 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -60,7 +60,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index aa5e0e417954f..e9cb8c5f1eee8 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -47,7 +47,7 @@ - + diff --git a/map_launch/CMakeLists.txt b/map_launch/CMakeLists.txt deleted file mode 100644 index d32f7c28c9244..0000000000000 --- a/map_launch/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(map_launch) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_auto_package( - INSTALL_TO_SHARE - launch -) diff --git a/map_launch/README.md b/map_launch/README.md deleted file mode 100644 index 5b36fb8e4b6a6..0000000000000 --- a/map_launch/README.md +++ /dev/null @@ -1,28 +0,0 @@ -# map_launch - -## Structure - -![map_launch](./map_launch.drawio.svg) - -## Package Dependencies - -Please see `` in `package.xml`. - -## Usage - -You can include as follows in `*.launch.xml` to use `map.launch.py`. - -```xml - - - - - - - - -``` - -## Notes - -For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 ) diff --git a/map_launch/launch/map.launch.py b/map_launch/launch/map.launch.py deleted file mode 100644 index c4e6fad4f0aa3..0000000000000 --- a/map_launch/launch/map.launch.py +++ /dev/null @@ -1,154 +0,0 @@ -# Copyright 2021 Tier IV, Inc. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -import os - -from ament_index_python.packages import get_package_share_directory -import launch -from launch.actions import DeclareLaunchArgument -from launch.actions import GroupAction -from launch.actions import SetLaunchConfiguration -from launch.conditions import IfCondition -from launch.conditions import UnlessCondition -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer -from launch_ros.actions import Node -from launch_ros.actions import PushRosNamespace -from launch_ros.descriptions import ComposableNode -import yaml - - -def generate_launch_description(): - - lanelet2_map_origin_path = os.path.join( - get_package_share_directory("map_loader"), "config/lanelet2_map_loader.param.yaml" - ) - - with open(lanelet2_map_origin_path, "r") as f: - lanelet2_map_origin_param = yaml.safe_load(f)["/**"]["ros__parameters"] - map_hash_generator = Node( - package="map_loader", - executable="map_hash_generator", - name="map_hash_generator", - parameters=[ - { - "lanelet2_map_path": LaunchConfiguration("lanelet2_map_path"), - "pointcloud_map_path": LaunchConfiguration("pointcloud_map_path"), - } - ], - ) - - lanelet2_map_loader = ComposableNode( - package="map_loader", - plugin="Lanelet2MapLoaderNode", - name="lanelet2_map_loader", - remappings=[("output/lanelet2_map", "vector_map")], - parameters=[ - { - "center_line_resolution": 5.0, - "lanelet2_map_path": LaunchConfiguration("lanelet2_map_path"), - "lanelet2_map_projector_type": "MGRS", # Options: MGRS, UTM - }, - lanelet2_map_origin_param, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - lanelet2_map_visualization = ComposableNode( - package="map_loader", - plugin="Lanelet2MapVisualizationNode", - name="lanelet2_map_visualization", - remappings=[ - ("input/lanelet2_map", "vector_map"), - ("output/lanelet2_map_marker", "vector_map_marker"), - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - pointcloud_map_loader = ComposableNode( - package="map_loader", - plugin="PointCloudMapLoaderNode", - name="pointcloud_map_loader", - remappings=[("output/pointcloud_map", "pointcloud_map")], - parameters=[ - {"pcd_paths_or_directory": ["[", LaunchConfiguration("pointcloud_map_path"), "]"]} - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - map_tf_generator = ComposableNode( - package="map_tf_generator", - plugin="MapTFGeneratorNode", - name="map_tf_generator", - parameters=[ - { - "map_frame": "map", - "viewer_frame": "viewer", - } - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - container = ComposableNodeContainer( - name="map_container", - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[ - lanelet2_map_loader, - lanelet2_map_visualization, - pointcloud_map_loader, - map_tf_generator, - ], - output="screen", - ) - - def add_launch_arg(name: str, default_value=None, description=None): - return DeclareLaunchArgument(name, default_value=default_value, description=description) - - return launch.LaunchDescription( - [ - add_launch_arg("map_path", "", "path to map directory"), - add_launch_arg( - "lanelet2_map_path", - [LaunchConfiguration("map_path"), "/lanelet2_map.osm"], - "path to lanelet2 map file", - ), - add_launch_arg( - "pointcloud_map_path", - [LaunchConfiguration("map_path"), "/pointcloud_map.pcd"], - "path to pointcloud map file", - ), - add_launch_arg( - "use_intra_process", "false", "use ROS2 component container communication" - ), - add_launch_arg("use_multithread", "false", "use multithread"), - SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), - ), - SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), - ), - GroupAction( - [ - PushRosNamespace("map"), - container, - map_hash_generator, - ] - ), - ] - ) diff --git a/map_launch/launch/map.launch.xml b/map_launch/launch/map.launch.xml deleted file mode 100644 index 49746c39a9c36..0000000000000 --- a/map_launch/launch/map.launch.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/map_launch/map_launch.drawio.svg b/map_launch/map_launch.drawio.svg deleted file mode 100644 index c037a46c149cb..0000000000000 --- a/map_launch/map_launch.drawio.svg +++ /dev/null @@ -1,250 +0,0 @@ - - - - - - - -
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