feat(simple_planning_simulator): add actuation command simulator (#1078)

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Jul 19, 2024 · e07760e · e07760e
1 parent a8bc43e
commit e07760e
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diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -12,6 +12,7 @@
   <arg name="vehicle_model"/>
   <arg name="initial_engage_state"/>
   <arg name="vehicle_info_param_file"/>
+  <arg name="raw_vehicle_cmd_converter_param_path"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
 
   <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
@@ -27,6 +28,7 @@
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
     <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+    <arg name="raw_vehicle_cmd_converter_param_path" value="$(var raw_vehicle_cmd_converter_param_path)"/>
 
     <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
     <arg

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -97,6 +97,7 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
       <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
     </include>
   </group>
 </launch>