set default vehicle/sensor?

[VRichardJP]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Autoware has only 1 sample vehicle and sensor kit, so why not make them defaults vehicle and sensor models in the launch file?

  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>

Alternatively, these variables could be set using environment variables:

  <arg name="vehicle_model" default="$(env VEHICLE_MODEL)" description="vehicle model name"/>
  <arg name="sensor_model" default="$(env SENSOR_MODEL)" description="sensor model name"/>

Where the environment would be set with a script like this:

AUTOWARE_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )

source ${AUTOWARE_DIR}/install/setup.bash

export VEHICLE_MODEL=sample_vehicle
export SENSOR_MODEL=sample_sensor_kit

# ROS stuff
# export RCUTILS_...
# export ROS_LOCALHOST_ONLY=1

# DDS stuff
# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# export CYCLONEDDS_URI=file://${AUTOWARE_DIR}/cyclonedds.xml

Actually the latter solution is something we have been using internally for a while. But even without overengineering things to much, I think there is no drawback with the first proposal (hardcoded default vehicle/sensor)

Purpose

win 5 seconds whenever I launch autoware from command line.

Possible approaches

• set default vehicle/sensor to sample ones
• or set default to environment variables, and provide script to source instead of install/setup.bash

Definition of done

don't have to type vehicle_model:=xxx anymore

[xmfcx]

I am also working on:

• https://github.com/xmfcx/one_launch

to achieve a similar result but this is also a good step in the right direction.

[xmfcx]

Closing as

• feat(autoware_launch): set default vehicle/sensor models to sample ones #768
  is merged, thanks @VRichardJP !