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refactor(autoware_launch): clean up component launch (autowarefoundat…
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…ion#207)

* refactor(autoware_launch): clean up component launch

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* Update autoware_launch/launch/components/tier4_map_component.launch.xml

Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
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@takayuki5168 @kminoda
takayuki5168 and kminoda authored Feb 16, 2023
1 parent c224b8a commit 98f3e5b
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Showing 6 changed files with 21 additions and 49 deletions.
33 changes: 5 additions & 28 deletions autoware_launch/launch/autoware.launch.xml
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Expand Up @@ -63,50 +63,27 @@

<!-- System -->
<group if="$(var launch_system)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml"/>
</group>

<!-- Map -->
<group if="$(var launch_map)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
</include>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/>
</group>

<!-- Sensing -->
<group if="$(var launch_sensing)">
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
<arg name="launch_driver" value="$(var launch_sensing_driver)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml"/>
</group>

<!-- Localization -->
<group if="$(var launch_localization)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml">
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
</group>

<!-- Perception -->
<group if="$(var launch_perception)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
<arg name="mode" value="lidar"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
</include>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
</group>

<!-- Planning -->
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3 changes: 0 additions & 3 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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@@ -1,8 +1,5 @@
<?xml version="1.0"?>
<launch>
<arg name="use_pointcloud_container"/>
<arg name="pointcloud_container_name"/>

<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
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7 changes: 2 additions & 5 deletions autoware_launch/launch/components/tier4_map_component.launch.xml
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@@ -1,11 +1,8 @@
<?xml version="1.0"?>
<launch>
<arg name="lanelet2_map_path"/>
<arg name="pointcloud_map_path"/>

<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
<arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
<arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>

<arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
<arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
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10 changes: 2 additions & 8 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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@@ -1,14 +1,8 @@
<?xml version="1.0"?>
<launch>
<arg name="mode"/>
<arg name="vehicle_param_file"/>
<arg name="use_pointcloud_container"/>
<arg name="pointcloud_container_name"/>
<arg name="enable_fine_detection"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var mode)"/>
<arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
<arg name="mode" value="lidar"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
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11 changes: 11 additions & 0 deletions autoware_launch/launch/components/tier4_sensing_component.launch.xml
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
<arg name="launch_driver" value="$(var launch_sensing_driver)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</launch>
6 changes: 1 addition & 5 deletions autoware_launch/launch/components/tier4_system_component.launch.xml
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@@ -1,11 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="run_mode"/>
<arg name="launch_system_monitor"/>
<arg name="sensor_model"/>

<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="$(var run_mode)"/>
<arg name="run_mode" value="$(var system_run_mode)"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>

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