Ros2 port autoware launch (autowarefoundation#35)

* [autoware_launch] port CMakelists.txt and remove COLCON_IGNORE

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_launch] fix planning_simulator.launch.xml

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_launch] add rviz config

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_launch] first port of autoware_launch

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* lanuch rviz with config file

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* modify launch file for making psim work

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* add vehicle model in launch

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* change from vehicle_model to vehicle_param_file

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* [autoware_launch] add autoware_web_controller and system launch

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add rosbrdige_suite to build_depends.repos

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Update rviz

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* update autoware.rviz

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* remove autoware_ros2.rviz

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

Co-authored-by: kosuke murakami <kosuke.murakami@tier4.jp>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>

launch/planning_launch/launch/planning.launch.xml

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="vehicle_param_file" />
   <!-- planning module -->
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -13,6 +14,7 @@
     <group>
       <push-ros-namespace namespace="scenario_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       </include>
     </group>
   </group>

launch/planning_launch/launch/scenario_planning/lane_driving.launch.xml

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="vehicle_param_file" />
 
   <!-- lane_driving scenario -->
   <group>
@@ -7,13 +8,15 @@
     <group>
       <push-ros-namespace namespace="behavior_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml">
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       </include>
     </group>
 
     <!-- motion planning module -->
     <group>
       <push-ros-namespace namespace="motion_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml">
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       </include>
     </group>
   </group>

launch/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -1,6 +1,7 @@
 <launch>
   <arg name="input_route_topic_name" default="/planning/mission_planning/route" />
   <arg name="map_topic_name" default="/map/vector_map" />
+  <arg name="vehicle_param_file" />
 
   <node pkg="lane_change_planner" exec="lane_change_planner" name="lane_change_planner" output="screen">
     <remap from="input/route" to="$(var input_route_topic_name)" />
@@ -43,6 +44,7 @@
   </node>
 
   <include file="$(find-pkg-share behavior_velocity_planner)/launch/behavior_velocity_planner.launch.xml">
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
   </include>
 
 </launch>

launch/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -1,13 +1,15 @@
 <launch>
   <arg name="input_path_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
+  <arg name="vehicle_param_file" />
 
   <!-- path planning for avoiding obstacle with dynamic object info -->
   <group>
     <include file="$(find-pkg-share obstacle_avoidance_planner)/launch/obstacle_avoidance_planner.launch.xml">
       <arg name="param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.yaml"/>
       <arg name="input_path_topic" value="$(var input_path_topic)" />
       <arg name="output_path_topic" value="obstacle_avoidance_planner/trajectory" />
-      </include>
+      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+    </include>
   </group>
 
 
@@ -16,7 +18,8 @@
     <include file="$(find-pkg-share surround_obstacle_checker)/launch/surround_obstacle_checker.launch.xml">
       <arg name="input_trajectory" value="obstacle_avoidance_planner/trajectory" />
       <arg name="output_trajectory" value="surround_obstacle_checker/trajectory" />
-      </include>
+      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+    </include>
   </group>
 
 
@@ -27,7 +30,8 @@
       <arg name="input_trajectory" value="surround_obstacle_checker/trajectory" />
       <arg name="input_pointcloud" value="/sensing/lidar/no_ground/pointcloud" />
       <arg name="output_trajectory" value="/planning/scenario_planning/lane_driving/trajectory" />
-      </include>
+      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+    </include>
   </group>
 
 </launch>

launch/planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -1,4 +1,6 @@
 <launch>
+  <arg name="vehicle_param_file" />
+
   <!-- scenario selector -->
   <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
     <arg name="input_lane_driving_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/>
@@ -25,6 +27,7 @@
   <group>
     <!-- lane driving -->
     <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
+      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
     </include>
     <!-- parking -->
     <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/parking.launch.xml">