Add simulator_launch package (autowarefoundation#459)

* Add simulator_launch package

* add argument

* fix depend order

* add argument

* move dummy_perception_publisher

* add arg for dummy_perception_publisher

* Update simulator_launch/launch/simulator.launch.xml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

autoware_launch/launch/planning_simulator.launch.xml

@@ -44,15 +44,6 @@
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
   </include>
 
-  <!-- Dummy Perception -->
-  <group unless="$(var scenario_simulation)">
-    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
-      <arg name="real" value="$(var perception/enable_detection_failure)"/>
-      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
-      <arg name="visible_range" value="$(var sensing/visible_range)"/>
-    </include>
-  </group>
-
   <!-- Planning -->
   <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
   </include>
@@ -74,4 +65,12 @@
 
   <!-- Web Controller -->
   <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+
+  <!-- Simulator -->
+  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+  </include>
 </launch>

autoware_launch/package.xml

@@ -21,6 +21,7 @@
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sensing_launch</exec_depend>
+  <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
 

simulator_launch/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+project(simulator_launch)
+
+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
+)

simulator_launch/README.md

@@ -0,0 +1,11 @@
+# simulator_launch
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+```xml
+  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml"/>
+```

simulator_launch/launch/simulator.launch.xml

@@ -0,0 +1,20 @@
+<launch>
+  <arg name="scenario_simulation" description="use scenario simulation"/>
+  <arg name="perception/enable_detection_failure" description="enable to simulate detection failure when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" description="enable object recognition when using dummy perception"/>
+  <arg name="sensing/visible_range" description="visible range when using dummy perception"/>
+
+  <group if="$(var scenario_simulation)">
+    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml"/>
+  </group>
+
+  <!-- Dummy Perception -->
+  <group unless="$(var scenario_simulation)">
+    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
+      <arg name="real" value="$(var perception/enable_detection_failure)"/>
+      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
+      <arg name="visible_range" value="$(var sensing/visible_range)"/>
+    </include>
+  </group>
+
+</launch>

simulator_launch/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simulator_launch</name>
+  <version>0.1.0</version>
+  <description>The simulator_launch package</description>
+
+  <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>dummy_perception_publisher</exec_depend>
+  <exec_depend>fault_injection</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>