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final version
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@xtk8532704
xtk8532704 committed Nov 18, 2024
1 parent adc2177 commit 6cb9e86
Showing 1 changed file with 137 additions and 131 deletions.
268 changes: 137 additions & 131 deletions launch/tier4_control_launch/launch/control.launch.xml
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<launch>
<!-- option -->
<arg name="enable_obstacle_collision_checker" default="false"/>
<arg name="launch_autonomous_emergency_braking" default="true"/>
<arg name="launch_predicted_path_checker" default="false"/>
<arg name="launch_collision_detector" default="false"/>

<arg name="trajectory_follower_mode" default="trajectory_follower_node"/>
<arg name="lateral_controller_mode"/>
<arg name="longitudinal_controller_mode"/>
<arg name="use_aeb_autoware_state_check"/>
<arg name="check_external_emergency_heartbeat"/>
<arg name="use_aeb_autoware_state_check"/>

<!-- option available for test/debug only -->
<arg name="launch_lane_departure_checker" default="true"/>
<!-- control-related modules, turn off only when debugging/testing. -->
<arg name="launch_shift_decider" default="true"/>
<arg name="launch_vehicle_cmd_gate" default="true"/>
<arg name="launch_operation_mode_transition_manager" default="true"/>
<arg name="launch_external_cmd_selector" default="true"/>
<arg name="launch_external_cmd_converter" default="true"/>
<arg name="launch_control_evaluator" default="true"/>

<!-- control-check modules, optional -->
<arg name="launch_lane_departure_checker" default="true"/>
<arg name="launch_control_validator" default="true"/>

<arg name="launch_autonomous_emergency_braking" default="true"/>
<arg name="launch_collision_detector" default="true"/>
<arg name="launch_obstacle_collision_checker" default="false"/>
<arg name="launch_predicted_path_checker" default="false"/>
<arg name="launch_control_evaluator" default="true"/>

<!-- common param path -->
<arg name="vehicle_param_file"/>
<arg name="nearest_search_param_path"/>
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<push-ros-namespace namespace="control"/>

<group>
<!-- set container to run all required components in the same process -->
<!-- set a control container to run all required components in the same process -->
<node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace="">
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component"/>
<node_container/>
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_control_container_component"/>
</node_container>

<!-- trajectory_follower_node -->
<group if="$(eval &quot;'$(var trajectory_follower_mode)' == 'trajectory_follower_node'&quot;)">
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</load_composable_node>
</group>

<!-- lane departure checker -->
<group if="$(var launch_lane_departure_checker)">
<load_composable_node target="/control/control_container">
<composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
<remap from="~/input/route" to="/planning/mission_planning/route"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var lane_departure_checker_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
<!-- smart_mpc, under development -->
<group if="$(eval &quot;'$(var trajectory_follower_mode)' == 'smart_mpc_trajectory_follower'&quot;)">
<node pkg="autoware_smart_mpc_trajectory_follower" exec="pympc_trajectory_follower.py" name="controller_node_exe"/>
</group>

<!-- shift decider -->
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</composable_node>
</load_composable_node>
</group>
</group>

<!-- external cmd selector -->
<group if="$(var launch_external_cmd_selector)">
<include file="$(find-pkg-share autoware_external_cmd_selector)/launch/external_cmd_selector.launch.py">
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="target_container" value="/control/control_container"/>
<arg name="external_cmd_selector_param_path" value="$(var external_cmd_selector_param_path)"/>
</include>
</group>

<!-- external cmd converter -->
<group if="$(var launch_external_cmd_converter)">
<include file="$(find-pkg-share autoware_external_cmd_converter)/launch/external_cmd_converter.launch.py">
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="target_container" value="/control/control_container"/>
</include>
</group>
<!-- external cmd selector -->
<group if="$(var launch_external_cmd_selector)">
<include file="$(find-pkg-share autoware_external_cmd_selector)/launch/external_cmd_selector.launch.py">
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="target_container" value="/control/control_container"/>
<arg name="external_cmd_selector_param_path" value="$(var external_cmd_selector_param_path)"/>
</include>
</group>

<!-- obstacle collision checker -->
<group if="$(var enable_obstacle_collision_checker)">
<load_composable_node target="/control/control_container">
<composable_node pkg="autoware_obstacle_collision_checker" plugin="autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode" name="obstacle_collision_checker">
<remap from="input/lanelet_map_bin" to="/map/vector_map"/>
<remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<remap from="input/odometry" to="/localization/kinematic_state"/>
<param from="$(var obstacle_collision_checker_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
<!-- external cmd converter -->
<group if="$(var launch_external_cmd_converter)">
<include file="$(find-pkg-share autoware_external_cmd_converter)/launch/external_cmd_converter.launch.py">
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="target_container" value="/control/control_container"/>
</include>
</group>
</group>

<!-- autonomous emergency braking -->
<group if="$(var launch_autonomous_emergency_braking)">
<load_composable_node target="/control/control_container" >
<composable_node pkg="autoware_autonomous_emergency_braking" plugin="autoware::motion::control::autonomous_emergency_braking::AEB" name="autonomous_emergency_braking">
<remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
<remap from="~/input/imu" to="/sensing/imu/imu_data"/>
<remap from="~/input/objects" to="/perception/object_recognition/objects"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var aeb_param_path)"/>
<param name="check_autoware_state" value="$(var use_aeb_autoware_state_check)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>
<group>
<!-- set a control check container to run all control checker components in the same process -->
<node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_check_container" namespace="">
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_control_check_container_component"/>
</node_container>

<!-- predicted path checker -->
<group if="$(var launch_predicted_path_checker)">
<load_composable_node target="/control/control_container">
<composable_node pkg="predicted_path_checker" plugin="autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode" name="predicted_path_checker">
<remap from="~/input/objects" to="/perception/object_recognition/objects"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/current_accel" to="/localization/acceleration"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var vehicle_param_file)"/>
<param from="$(var predicted_path_checker_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>
<!-- lane departure checker -->
<group if="$(var launch_lane_departure_checker)">
<load_composable_node target="/control/control_check_container">
<composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
<remap from="~/input/route" to="/planning/mission_planning/route"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var lane_departure_checker_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>

<!-- control evaluator -->
<group if="$(var launch_control_evaluator)">
<load_composable_node target="/control/control_container">
<composable_node pkg="autoware_control_evaluator" plugin="control_diagnostics::ControlEvaluatorNode" name="control_evaluator">
<remap from="~/input/diagnostics" to="/diagnostics"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/acceleration" to="/localization/acceleration"/>
<remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/metrics" to="/control/control_evaluator/metrics"/>
<remap from="~/input/vector_map" to="/map/vector_map"/>
<remap from="~/input/route" to="/planning/mission_planning/route"/>
</composable_node>
</load_composable_node>
</group>
<!-- control validator checker -->
<group if="$(var launch_control_validator)">
<load_composable_node target="/control/control_check_container">
<composable_node pkg="autoware_control_validator" plugin="autoware::control_validator::ControlValidator" name="control_validator">
<remap from="~/input/kinematics" to="/localization/kinematic_state"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<remap from="~/output/validation_status" to="~/validation_status"/>
<param from="$(var control_validator_param_path)"/>
</composable_node>
</load_composable_node>
</group>

<!-- collision detector-->
<group if="$(var launch_collision_detector)">
<load_composable_node target="/control/control_container">
<composable_node pkg="autoware_collision_detector" plugin="autoware::collision_detector::CollisionDetectorNode" name="collision_detector">
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="~/input/objects" to="/perception/object_recognition/objects"/>
<param from="$(var collision_detector_param_path)"/>
</composable_node>
</load_composable_node>
</group>
</group>
<!-- autonomous emergency braking -->
<group if="$(var launch_autonomous_emergency_braking)">
<load_composable_node target="/control/control_check_container" >
<composable_node pkg="autoware_autonomous_emergency_braking" plugin="autoware::motion::control::autonomous_emergency_braking::AEB" name="autonomous_emergency_braking">
<remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
<remap from="~/input/imu" to="/sensing/imu/imu_data"/>
<remap from="~/input/objects" to="/perception/object_recognition/objects"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var aeb_param_path)"/>
<param name="check_autoware_state" value="$(var use_aeb_autoware_state_check)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>

<group if="$(var launch_control_validator)">
<push-ros-namespace namespace="control"/>
<!-- collision detector-->
<group if="$(var launch_collision_detector)">
<load_composable_node target="/control/control_check_container">
<composable_node pkg="autoware_collision_detector" plugin="autoware::collision_detector::CollisionDetectorNode" name="collision_detector">
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="~/input/objects" to="/perception/object_recognition/objects"/>
<param from="$(var collision_detector_param_path)"/>
</composable_node>
</load_composable_node>
</group>

<!-- control validator checker -->
<node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_validator_container" namespace="">
<composable_node pkg="autoware_control_validator" plugin="autoware::control_validator::ControlValidator" name="control_validator">
<remap from="~/input/kinematics" to="/localization/kinematic_state"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<remap from="~/output/validation_status" to="~/validation_status"/>
<param from="$(var control_validator_param_path)"/>
</composable_node>
<!-- obstacle collision checker -->
<group if="$(var launch_obstacle_collision_checker)">
<load_composable_node target="/control/control_check_container">
<composable_node pkg="autoware_obstacle_collision_checker" plugin="autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode" name="obstacle_collision_checker">
<remap from="input/lanelet_map_bin" to="/map/vector_map"/>
<remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<remap from="input/odometry" to="/localization/kinematic_state"/>
<param from="$(var obstacle_collision_checker_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>

<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_validator_component"/>
</node_container>
</group>
<!-- predicted path checker -->
<group if="$(var launch_predicted_path_checker)">
<load_composable_node target="/control/control_check_container">
<composable_node pkg="predicted_path_checker" plugin="autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode" name="predicted_path_checker">
<remap from="~/input/objects" to="/perception/object_recognition/objects"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/current_accel" to="/localization/acceleration"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
<param from="$(var vehicle_param_file)"/>
<param from="$(var predicted_path_checker_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>

<group if="$(eval &quot;'$(var trajectory_follower_mode)' == 'smart_mpc_trajectory_follower'&quot;)">
<node pkg="autoware_smart_mpc_trajectory_follower" exec="pympc_trajectory_follower.py" name="controller_node_exe"/>
<!-- control evaluator -->
<group if="$(var launch_control_evaluator)">
<load_composable_node target="/control/control_check_container">
<composable_node pkg="autoware_control_evaluator" plugin="control_diagnostics::ControlEvaluatorNode" name="control_evaluator">
<remap from="~/input/diagnostics" to="/diagnostics"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/acceleration" to="/localization/acceleration"/>
<remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/metrics" to="/control/control_evaluator/metrics"/>
<remap from="~/input/vector_map" to="/map/vector_map"/>
<remap from="~/input/route" to="/planning/mission_planning/route"/>
</composable_node>
</load_composable_node>
</group>
</group>
</group>
</launch>

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