feat: add autoware_launch (#1)

* feat: change launch package name (#186) * rename launch folder Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * autoware_launch -> tier4_autoware_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * integration_launch -> tier4_integration_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * map_launch -> tier4_map_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * planning_launch -> tier4_planning_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * simulator_launch -> tier4_simulator_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * control_launch -> tier4_control_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * localization_launch -> tier4_localization_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * perception_launch -> tier4_perception_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * sensing_launch -> tier4_sensing_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * system_launch -> tier4_system_launch Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * ci(pre-commit): autofix * vehicle_launch -> tier4_vehicle_launch Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat(atutoware.rviz): disable selectable for pointcloud visualization (#402) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * fix: change the default mode of perception.launch (#409) * fix: change the default mode of perception.launch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove unnecessary comments Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove default values Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename package name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(pre-commit): autofix * add build_depends.repos Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
tier4 · Feb 21, 2022 · 3f01cd9 · 3f01cd9
1 parent 13b903c
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diff --git a/autoware_launch/CMakeLists.txt b/autoware_launch/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_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
+  rviz
+)
diff --git a/autoware_launch/README.md b/autoware_launch/README.md
@@ -0,0 +1,17 @@
+# autoware_launch
+
+## Structure
+
+![autoware_launch](./autoware_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can use the command as follows at shell script to launch `*.launch.xml` in `launch` directory.
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
+```
diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <!-- Optional parameters -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <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"/>
+
+  <!-- Global parameters -->
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+  </include>
+
+  <!-- Pointcloud container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+
+  <!-- Vehicle -->
+  <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- System -->
+  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="online"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+  </include>
+
+  <!-- Sensing -->
+  <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
+    <arg name="launch_driver" value="true"/>
+    <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="$(var pointcloud_container_name)"/>
+  </include>
+
+  <!-- Localization -->
+  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
+  </include>
+
+  <!-- Perception -->
+  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <arg name="mode" value="lidar"/>
+    <arg name="vehicle_param_file" value="$(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="$(var pointcloud_container_name)"/>
+  </include>
+
+  <!-- Planning -->
+  <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Control -->
+  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+    <arg name="lateral_controller_mode" value="mpc_follower"/>
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Rviz -->
+  <node
+    pkg="rviz2"
+    exec="rviz2"
+    name="rviz2"
+    output="screen"
+    args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+    if="$(var rviz)"
+  >
+  </node>
+
+  <!-- Web Controller -->
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
+
+</launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -0,0 +1,132 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
+  <!-- Optional parameters -->
+  <arg name="vehicle" default="true" description="launch vehicle"/>
+  <arg name="system" default="true" description="launch system"/>
+  <arg name="map" default="true" description="launch map"/>
+  <arg name="sensing" default="true" description="launch sensing"/>
+  <arg name="localization" default="true" description="launch localization"/>
+  <arg name="perception" default="true" description="launch perception"/>
+  <arg name="planning" default="true" description="launch planning"/>
+  <arg name="control" default="true" description="launch control"/>
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <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"/>
+  <arg name="vehicle_simulation" default="false" description="use vehicle simulation"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <!-- Optional parameters for scenario simulation -->
+  <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
+
+  <!-- Global parameters -->
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="use_sim_time" value="true"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+  </include>
+
+  <!-- Pointcloud container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+
+  <!-- Vehicle -->
+  <group>
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="simulation" value="$(var vehicle_simulation)"/>
+    </include>
+  </group>
+
+  <!-- System -->
+  <group>
+    <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml" if="$(var system)">
+      <arg name="run_mode" value="online"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+    </include>
+  </group>
+
+  <!-- Map -->
+  <group>
+    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py" if="$(var map)">
+      <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>
+  </group>
+
+  <!-- Sensing -->
+  <group>
+    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml" if="$(var sensing)">
+      <arg name="launch_driver" value="false"/>
+      <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="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Localization -->
+  <group>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml" if="$(var localization)">
+    </include>
+  </group>
+
+  <!-- Perception -->
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml" if="$(var perception)">
+      <arg name="mode" value="lidar"/>
+      <arg name="vehicle_param_file" value="$(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="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Planning -->
+  <group>
+    <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml" if="$(var planning)">
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Control -->
+  <group>
+    <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py" if="$(var control)">
+      <arg name="lateral_controller_mode" value="mpc_follower"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Rviz -->
+  <node
+    pkg="rviz2"
+    exec="rviz2"
+    name="rviz2"
+    output="screen"
+    args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+    if="$(var rviz)"
+  >
+  </node>
+
+  <!-- Web Controller -->
+  <group>
+    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
+  </group>
+
+  <!-- Simulator -->
+  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+    <arg name="vehicle_simulation" value="false"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+</launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <!-- Optional parameters -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <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"/>
+  <!-- Optional parameters for scenario simulation -->
+  <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
+  <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" default="true" description="enable object recognition when using dummy perception"/>
+  <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
+  <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
+  <!-- Optional parameters for vcu emulation -->
+  <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
+
+  <!-- Global parameters -->
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+  </include>
+
+  <!-- Vehicle -->
+  <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="simulation" value="$(var vehicle_simulation)"/>
+  </include>
+
+  <!-- System -->
+  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="planning_simulation"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+  </include>
+
+  <!-- Planning -->
+  <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Control -->
+  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+    <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
+    <arg name="lateral_controller_mode" value="mpc_follower"/>
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Initial Pose Relay -->
+    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
+      <param name="input_topic" value="/initialpose"/>
+      <param name="output_topic" value="/initialpose2d"/>
+      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
+    </node>
+
+  <!-- Rviz -->
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
+
+  <!-- Web Controller -->
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+
+  <!-- Simulator -->
+  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <arg name="scenario_simulation" value="$(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="$(var sensing/visible_range)"/>
+    <arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+</launch>
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
@@ -0,0 +1,57 @@
+# 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 SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+
+
+def generate_launch_description():
+    def add_launch_arg(name: str, default_value=None):
+        return DeclareLaunchArgument(name, default_value=default_value)
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    pointcloud_container = ComposableNodeContainer(
+        name=LaunchConfiguration("container_name"),
+        namespace="/",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=[],
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            add_launch_arg("use_multithread", "false"),
+            add_launch_arg("container_name", "pointcloud_container"),
+            set_container_executable,
+            set_container_mt_executable,
+            pointcloud_container,
+        ]
+    )