Auto/launcher ground segmentation (autowarefoundation#117)

* add base line launch * add ground_segmentation launcher * run pre-commit * clean up * fix coding style * fix topic name * fix yaml params * fix loader name * rename components * improve implementation
tkimura4 · Dec 13, 2021 · 0bb8f81 · 0bb8f81
1 parent 095e469
commit 0bb8f81
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diff --git a/launch/autoware_launch/launch/autoware.launch.xml b/launch/autoware_launch/launch/autoware.launch.xml
@@ -48,6 +48,8 @@
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="camera_lidar_fusion" />
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
   </include>
 
   <!-- Planning -->

diff --git a/launch/autoware_launch/launch/logging_simulator.launch.xml b/launch/autoware_launch/launch/logging_simulator.launch.xml
@@ -74,6 +74,8 @@
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>