Add some scenario-simulation specifiec parameters as arguments (autow…

…arefoundation#57)

* Add some scenario-simulation specifiec parameters as arguments

* Update arg to pass 'initial_engage_state' to simple_planning_simulator

* Add new optional argument 'rviz_args'

* Rename some roslaunch arguments

* Remove unneeded arguments

launch/autoware_launch/launch/planning_simulator.launch

@@ -6,14 +6,21 @@
   <arg name="sensor_model"/>
   <!-- Optional parameters -->
   <arg name="rviz" default="true" doc="launch rviz"/>
+  <arg name="rviz_args" default="$-d (find autoware_launch)/rviz/autoware.rviz"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" />
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
+  <!-- Optional parameters for scenario simulation -->
+  <arg name="initial_engage_state" default="true"/>
+  <arg name="perception/enable_detection_failure" default="true"/>
+  <arg name="perception/enable_object_recognition" default="true"/>
+  <arg name="sensing/visible_range" default="300"/>
 
   <!-- Vehicle -->
   <include file="$(find vehicle_launch)/launch/vehicle.launch">
     <arg name="vehicle_model" value="$(arg vehicle_model)"/>
     <arg name="sensor_model" value="$(arg sensor_model)"/>
     <arg name="simulation" value="true"/>
+    <arg name="initial_engage_state" value="$(arg initial_engage_state)"/>
   </include>
 
   <!-- System -->
@@ -28,7 +35,11 @@
   </include>
 
   <!-- Dummy Perception -->
-  <include file="$(find dummy_perception_publisher)/launch/dummy_perception_publisher.launch" />
+  <include file="$(find dummy_perception_publisher)/launch/dummy_perception_publisher.launch">
+    <arg name="real" value="$(arg perception/enable_detection_failure)"/>
+    <arg name="use_object_recognition" value="$(arg perception/enable_object_recognition)"/>
+    <arg name="visible_range" value="$(arg sensing/visible_range)"/>
+  </include>
 
   <!-- Planning -->
   <include file="$(find planning_launch)/launch/planning.launch" />
@@ -39,7 +50,7 @@
   </include>
 
   <!-- Rviz -->
-  <node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find autoware_launch)/rviz/autoware.rviz" if="$(arg rviz)" />
+  <node pkg="rviz" type="rviz" name="rviz" output="screen" args="$(arg rviz_args)" if="$(arg rviz)" />
 
   <!-- Web Controller -->
   <include file="$(find roswww)/launch/roswww.launch">