From ff2aeffcdfd1f75bf944c9f0ed42fa721bb0c199 Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Mon, 18 Nov 2024 15:55:52 +0900 Subject: [PATCH 1/2] add control_module_preset Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../config/control/preset/default_preset.yaml | 39 +++++++++++++++++++ .../preset/dlr_control_validator_preset.yaml | 39 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 5 ++- .../tier4_control_component.launch.xml | 9 ++--- .../launch/e2e_simulator.launch.xml | 2 + .../launch/logging_simulator.launch.xml | 2 + .../launch/planning_simulator.launch.xml | 2 + 7 files changed, 91 insertions(+), 7 deletions(-) create mode 100644 autoware_launch/config/control/preset/default_preset.yaml create mode 100644 autoware_launch/config/control/preset/dlr_control_validator_preset.yaml diff --git a/autoware_launch/config/control/preset/default_preset.yaml b/autoware_launch/config/control/preset/default_preset.yaml new file mode 100644 index 0000000000..8b16c6fc75 --- /dev/null +++ b/autoware_launch/config/control/preset/default_preset.yaml @@ -0,0 +1,39 @@ +launch: + # controler + - arg: + name: trajectory_follower_mode + default: trajectory_follower_node + # option: trajectory_follower_node + # smart_mpc_trajectory_follower + # none + + # external_cmd selector/converter + - arg: + name: launch_external_cmd_selector + default: "true" + - arg: + name: launch_external_cmd_converter + default: "true" + + # optional control checkers + - 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" diff --git a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml new file mode 100644 index 0000000000..69614133f9 --- /dev/null +++ b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml @@ -0,0 +1,39 @@ +launch: + # controler + - arg: + name: trajectory_follower_mode + default: none + # option: trajectory_follower_node + # smart_mpc_trajectory_follower + # none + + # external_cmd selector/converter + - arg: + name: launch_external_cmd_selector + default: "false" + - arg: + name: launch_external_cmd_converter + default: "false" + + # optional control checkers + - arg: + name: launch_lane_departure_checker + default: "false" + - arg: + name: launch_control_validator + default: "true" + - arg: + name: launch_autonomous_emergency_braking + default: "false" + - arg: + name: launch_collision_detector + default: "false" + - arg: + name: launch_obstacle_collision_checker + default: "false" + - arg: + name: launch_predicted_path_checker + default: "false" + - arg: + name: launch_control_evaluator + default: "false" diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 95f15f59fb..29378cc0c8 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -9,6 +9,7 @@ + @@ -113,7 +114,9 @@ - + + + diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index d23a3c42c5..99cfe7484f 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -1,13 +1,13 @@ + + + - - - @@ -43,10 +43,7 @@ - - - diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index b1a5d6ee8b..3237754c48 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -10,6 +10,7 @@ + @@ -51,6 +52,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 8780578a6e..df5f591fc4 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -9,6 +9,7 @@ + @@ -43,6 +44,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index bc601cb30f..b7e21999f1 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -8,6 +8,7 @@ + @@ -58,6 +59,7 @@ + From af7c9419453b25396b1e72fc77ad671c1d8f660d Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Mon, 18 Nov 2024 15:59:40 +0900 Subject: [PATCH 2/2] fix typo Signed-off-by: xtk8532704 <1041084556@qq.com> --- autoware_launch/config/control/preset/default_preset.yaml | 2 +- .../config/control/preset/dlr_control_validator_preset.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/preset/default_preset.yaml b/autoware_launch/config/control/preset/default_preset.yaml index 8b16c6fc75..74ba17b0a1 100644 --- a/autoware_launch/config/control/preset/default_preset.yaml +++ b/autoware_launch/config/control/preset/default_preset.yaml @@ -1,5 +1,5 @@ launch: - # controler + # controller - arg: name: trajectory_follower_mode default: trajectory_follower_node diff --git a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml index 69614133f9..1ad7ce9ac9 100644 --- a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml +++ b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml @@ -1,5 +1,5 @@ launch: - # controler + # controller - arg: name: trajectory_follower_mode default: none