feat(e2e_simulator.launch): add argument for running the CARLA interface

autoware_launch/launch/e2e_simulator.launch.xml

@@ -6,6 +6,8 @@
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
+  <arg name="carla_map" default="Town01" description="Map used for CARLA"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -31,15 +33,30 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"
-  />
+
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
 
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml">
+      <arg name="carla_map_name" value="$(var carla_map)"/>
+    </include>
+    <arg
+      name="system_error_monitor_param_path"
+      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+      description="system error monitor param path"
+    />
+  </group>
+
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'awsim\'')">
+    <arg
+      name="system_error_monitor_param_path"
+      default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+      description="system error monitor param path"
+    />
+  </group>
+
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
       <!-- Common -->