diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages index af6422c41bb..43c37a7de8c 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages @@ -1,4 +1,5 @@ nav: - index.md + - Launch sensing: sensing - Launch localization: localization - Launch perception: perception diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md index 835c19a6b55..021c3d0b12e 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md @@ -6,7 +6,7 @@ We will explain how to run and launch autoware with these modules: - Vehicle - System - Map -- Sensing +- [Sensing](./sensing) - [Localization](./localization) - [Perception](./perception) - Planning diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md index aa72cb170bf..117b4fcc231 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md @@ -15,14 +15,16 @@ This diagram describes some of the Autoware localization launch files flow at `a -The Autoware project is a large project. -Therefore, as we manage the Autoware project, we utilize specific -arguments in the launch files. -ROS 2 offers an argument-overriding feature for these launch files. -Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. -For instance, -if we define an argument at the top-level launch, -it will override the value on lower-level launches. +!!! note + + The Autoware project is a large project. + Therefore, as we manage the Autoware project, we utilize specific + arguments in the launch files. + ROS 2 offers an argument-overriding feature for these launch files. + Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. + For instance, + if we define an argument at the top-level launch, + it will override the value on lower-level launches. ## tier4_localization_component.launch.xml diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md index efa37da212d..180323a8ccb 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md @@ -15,14 +15,16 @@ This diagram describes some of the Autoware perception launch files flow at `aut -The Autoware project is a large project. -Therefore, as we manage the Autoware project, we utilize specific -arguments in the launch files. -ROS 2 offers an argument-overriding feature for these launch files. -Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. -For instance, -if we define an argument at the top-level launch, -it will override the value on lower-level launches. +!!! note + + The Autoware project is a large project. + Therefore, as we manage the Autoware project, we utilize specific + arguments in the launch files. + ROS 2 offers an argument-overriding feature for these launch files. + Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. + For instance, + if we define an argument at the top-level launch, + it will override the value on lower-level launches. ## tier4_perception_component.launch.xml diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/images/sensing_launch_flow.svg b/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/images/sensing_launch_flow.svg new file mode 100644 index 00000000000..88be1f2eaaf --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/images/sensing_launch_flow.svg @@ -0,0 +1,4 @@ + + + +
file: sensing.launch.xml
file: sensing.launch.xml
package: tier4_sensing_launch
package: tier4_sensing_launch
file: autoware.launch.xml
file: autoware.launch.xml
package: autoware_launch
package: autoware_launch
file: tier4_sensing_component.launch.xml
file: tier4_sensing_component.launch...
package: autoware_launch
package: autoware_launch
file: sensing.launch.xml
file: sensing.launch.xml
package: <YOUR-SENSOR-KIT>_launch
package: <YOUR-SENSOR-KIT>_launch
file: lidar.launch.xml
file: lidar.launch.xml
package: <YOUR-SENSOR-KIT>_launch
package: <YOUR-SENSOR-KIT>_launch
file: camera.launch.xml
file: camera.launch.xml
package: <YOUR-SENSOR-KIT>_launch
package: <YOUR-SENSOR-KIT>_launch
file: imu.launch.xml
file: imu.launch.xml
package: <YOUR-SENSOR-KIT>_launch
package: <YOUR-SENSOR-KIT>_launch
file: gnss.launch.xml
file: gnss.launch.xml
package: <YOUR-SENSOR-KIT>_launch
package: <YOUR-SENSOR-KIT>_launch
file: <YOUR-LIDAR-MODEL>.launch.xml
file: <YOUR-LIDAR-MODEL>.launch.xml
package: common_sensor_launch
package: common_sensor_launch
file: nebula_node_container.launch.py
file: nebula_node_container.launch.py
package: common_sensor_launch
package: common_sensor_launch
file: <YOUR-LIDAR-MODEL>.launch.xml
file: <YOUR-LIDAR-MODEL>.launch.xml
package: common_sensor_launch
package: common_sensor_launch
file: nebula_node_container.launch.py
file: nebula_node_container.launch.py
package: common_sensor_launch
package: common_sensor_launch
file: <YOUR-LIDAR-MODEL>.launch.xml
file: <YOUR-LIDAR-MODEL>.launch.xml
package: common_sensor_launch
package: common_sensor_launch
file: nebula_node_container.launch.py
file: nebula_node_container.launch.py
package: common_sensor_launch
package: common_sensor_launch
Lidar 1
Lidar 1
Lidar 2
Lidar 2
Lidar 3
Lidar 3Text is not SVG - cannot display \ No newline at end of file diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md new file mode 100644 index 00000000000..abe73587489 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md @@ -0,0 +1,48 @@ +# Sensing Launch Files + +## Overview + +The Autoware sensing stacks start +launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page. +The `autoware_launch` package includes `tier4_sensing_component.launch.xml` +for starting sensing launch files invocation from `autoware_launch.xml`. +This diagram describes some of the Autoware sensing launch files flow at `autoware_launch` and `autoware.universe` packages. + +
+ ![sensing-launch-flow](images/sensing_launch_flow.svg){ align=center } +
+ Autoware sensing launch flow diagram +
+
+ +!!! note + + The Autoware project is a large project. + Therefore, as we manage the Autoware project, we utilize specific + arguments in the launch files. + ROS 2 offers an argument-overriding feature for these launch files. + Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. + For instance, + if we define an argument at the top-level launch, + it will override the value on lower-level launches. + +The sensing launch is more related to your sensor kit, +so if you want to modify your launch, we recommend applying +these modifications to the packages. +Please look +at [creating sensor and vehicle model](../../creating-vehicle-and-sensor-description) pages for more information but there +is are some modifications on which can you done at top-level launch files. + +For example, if you do not want to launch the sensor driver with Autoware, +you can disable it with a command-line argument: + +```bash +ros2 launch autoware_launch autoware.launch.xml ... launch_sensing_driver:=false ... +``` + +Or you can change it on your `autoware.launch.xml` launch file: + +```diff +- ++ +```