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fix(autoware_launch): minor change with tier4_control_component #186

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merged 1 commit into from
Feb 3, 2023
Merged

fix(autoware_launch): minor change with tier4_control_component #186

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11 changes: 1 addition & 10 deletions autoware_launch/launch/autoware.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,6 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
<!-- System -->
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
Expand Down Expand Up @@ -130,14 +128,7 @@

<!-- Control -->
<group if="$(var launch_control)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="vehicle_id" value="$(var vehicle_id)"/>
<arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
<arg name="lateral_controller_mode" value="mpc"/>
<arg name="longitudinal_controller_mode" value="pid"/>
<arg name="use_individual_control_param" value="false"/>
</include>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/>
</group>

<!-- API -->
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16 changes: 6 additions & 10 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,22 +1,18 @@
<?xml version="1.0"?>
<launch>
<arg name="vehicle_param_file"/>
<arg name="vehicle_id"/>
<arg name="enable_obstacle_collision_checker"/>
<arg name="lateral_controller_mode"/>
<arg name="longitudinal_controller_mode"/>
<arg name="use_individual_control_param"/>
<!-- optional parameters are written here -->
<arg name="lateral_controller_mode" default="mpc"/>
<arg name="longitudinal_controller_mode" default="pid"/>
<arg name="use_individual_control_param" default="false"/>

<let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
<let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>

<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
<arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>

<!-- option -->
<arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="vehicle_id" value="$(var vehicle_id)"/>
<arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
<arg name="enable_obstacle_collision_checker" value="false"/>
<arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
<arg
name="lat_controller_param_path"
Expand Down
3 changes: 0 additions & 3 deletions autoware_launch/launch/e2e_simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
<!-- Vehicle -->
<arg name="launch_vehicle_interface" default="false"/>
<!-- System -->
Expand Down Expand Up @@ -49,8 +48,6 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<!-- Sensing -->
Expand Down
4 changes: 0 additions & 4 deletions autoware_launch/launch/logging_simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,6 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
<!-- System -->
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<!-- Tools -->
Expand Down Expand Up @@ -62,8 +60,6 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="false"/>
</include>
Expand Down
4 changes: 0 additions & 4 deletions autoware_launch/launch/planning_simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,6 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
<!-- System -->
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<!-- Tools -->
Expand Down Expand Up @@ -49,8 +47,6 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Control -->
<arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
<!-- Tools -->
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_config" value="$(var rviz_config)"/>
Expand Down