diff --git a/build_depends.repos b/build_depends.repos index 471cfbe567991..51917f0b47b8b 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -1,4 +1,8 @@ repositories: + launch/aip_launcher: + type: git + url: https://github.com/tier4/AutowareArchitectureProposal_aip_launcher.git + version: use-autoware-auto-msgs common/autoware_lint_common: type: git url: https://github.com/tier4/tier4_ament_lint @@ -51,3 +55,15 @@ repositories: type: git url: https://github.com/astuff/pacmod3_msgs version: main + vendor/tamagawa_imu_driver: + type: git + url: https://github.com/tier4/tamagawa_imu_driver.git + version: ros2 + vendor/livox-driver: + type: git + url: https://github.com/tier4/livox_ros2_driver.git + version: tier4/master + vendor/velodyne_vls: + type: git + url: https://github.com/tier4/velodyne_vls.git + version: use-autoware-auto-msgs diff --git a/launch/sensing_launch/CMakeLists.txt b/launch/sensing_launch/CMakeLists.txt new file mode 100644 index 0000000000000..408ba2fe4a7ec --- /dev/null +++ b/launch/sensing_launch/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.5) +project(sensing_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 +) diff --git a/launch/sensing_launch/README.md b/launch/sensing_launch/README.md new file mode 100644 index 0000000000000..2a6b577a12d5e --- /dev/null +++ b/launch/sensing_launch/README.md @@ -0,0 +1,49 @@ +# sensing_launch + +## Structure + +![sensing_launch](./sensing_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +You can include as follows in `*.launch.xml` to use `sensing.launch.xml`. + +```xml + + + + + + +``` + +## Launch Directory Structure + +This package finds sensor settings of specified sensor model in `launch`. + +```bash +launch/ +├── aip_x1 # Sensor model name +│   ├── camera.launch.xml # Camera +│   ├── gnss.launch.xml # GNSS +│   ├── imu.launch.xml # IMU +│   ├── lidar.launch.xml # LiDAR +│   └── pointcloud_preprocessor.launch.py # for preprocessing pointcloud +... +``` + +## Notes + +This package finds settings with variables. + +ex.) + + + +```xml + +``` diff --git a/launch/sensing_launch/launch/sensing.launch.xml b/launch/sensing_launch/launch/sensing.launch.xml new file mode 100644 index 0000000000000..82b177b90a655 --- /dev/null +++ b/launch/sensing_launch/launch/sensing.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/sensing_launch/package.xml b/launch/sensing_launch/package.xml new file mode 100644 index 0000000000000..5ec1f045a91b0 --- /dev/null +++ b/launch/sensing_launch/package.xml @@ -0,0 +1,23 @@ + + + + sensing_launch + 0.1.0 + The sensing_launch package + + Yukihiro Saito + Apache License 2.0 + + ament_cmake_auto + aip_x1_launch + aip_x2_launch + aip_xx1_launch + common_sensor_launch + vehicle_info_util + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/launch/sensing_launch/sensing_launch.drawio.svg b/launch/sensing_launch/sensing_launch.drawio.svg new file mode 100644 index 0000000000000..4db34b058b7c0 --- /dev/null +++ b/launch/sensing_launch/sensing_launch.drawio.svg @@ -0,0 +1,228 @@ + + + + + + + +
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