Add global_params.launch.py (tier4#260)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

autoware_launch/launch/autoware.launch.xml

@@ -10,9 +10,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
 
   <!-- Global parameters -->
-  <!-- Vehicle info -->
-  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_info.launch.py">
-    <arg name="config_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  <include file="$(find-pkg-share autoware_launch)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
   <!-- Vehicle -->

autoware_launch/launch/global_params.launch.py

@@ -0,0 +1,52 @@
+# 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.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.actions import OpaqueFunction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import SetParameter
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    # use_sim_time
+    set_use_sim_time = SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time'))
+
+    # vehicle_info
+    vehicle_description_pkg = FindPackageShare([
+        LaunchConfiguration('vehicle_model'), '_description']).perform(context)
+
+    load_vehicle_info = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [FindPackageShare('vehicle_launch'), '/launch/vehicle_info.launch.py']
+        ),
+        launch_arguments={
+            'config_file': [vehicle_description_pkg, '/config/vehicle_info.param.yaml']
+        }.items()
+    )
+
+    return [
+        set_use_sim_time,
+        load_vehicle_info,
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument('use_sim_time', default_value='false'),
+        OpaqueFunction(function=launch_setup),
+    ])

autoware_launch/launch/logging_simulator.launch.xml

@@ -19,12 +19,11 @@
   <arg name="rviz" default="true" description="launch rviz" />
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" />
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
-  <set_parameter name="use_sim_time" value="true" />
 
   <!-- Global parameters -->
-  <!-- Vehicle info -->
-  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_info.launch.py">
-    <arg name="config_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  <include file="$(find-pkg-share autoware_launch)/launch/global_params.launch.py">
+    <arg name="use_sim_time" value="true" />
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
   <!-- Vehicle -->

autoware_launch/launch/planning_simulator.launch.xml

@@ -15,15 +15,12 @@
   <arg name="perception/enable_object_recognition" default="true"/>
   <arg name="sensing/visible_range" default="300.0"/>
   <arg name="scenario_simulation" default="false"/>
-  <arg name="use_sim_time" default="false" />
-  <set_parameter name="use_sim_time" value="$(var use_sim_time)" />
   <!-- Optional parameters for vcu emulation -->
   <arg name="vehicle_simulation" default="true"/>
 
   <!-- Global parameters -->
-  <!-- Vehicle info -->
-  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_info.launch.py">
-    <arg name="config_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  <include file="$(find-pkg-share autoware_launch)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
   <!-- Vehicle -->