Merge pull request #53 from booars/sync-upstream

chore: sync upstream
booars · Oct 9, 2024 · b4ed725 · b4ed725
2 parents 55191cf + d9e75df
commit b4ed725
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Showing 22 changed files with 3,068 additions and 2,297 deletions.
diff --git a/.cspell.json b/.cspell.json
@@ -54,29 +54,41 @@
     "ackermann",
     "adapi",
     "aichallenge",
+    "argmin",
     "astar",
     "autocompute",
+    "autoconnect",
     "autodetermine",
     "automotiveaichallenge",
     "autoware",
     "awsim",
     "booars",
     "brakemap",
     "buildtool",
+    "cind",
+    "coeffs",
     "colcon",
     "costmap",
     "cuda",
     "cyclonedds",
     "dallara",
     "dcmake",
     "decel",
+    "dind",
     "distro",
     "downsample",
+    "downsampling",
+    "dtheta",
+    "eguchi",
     "freespace",
     "gnss",
     "gnucxx",
+    "Golay",
     "gtest",
+    "Iceoryx",
     "initialpose",
+    "ints",
+    "Kohei",
     "lanechange",
     "lanefollowing",
     "lanelet",
@@ -86,58 +98,58 @@
     "linalg",
     "linestring",
     "linestrings",
+    "linkstate",
     "lowpass",
     "mapfile",
     "mathcal",
     "mgrs",
+    "michikuni",
+    "mppi",
+    "MPPI",
+    "mpss",
+    "multihop",
+    "ncourse",
+    "nodename",
     "odometry",
     "osrf",
+    "pinv",
     "pitstop",
     "pointcloud",
+    "Qdin",
     "rclcpp",
     "rclpy",
     "rcutils",
+    "reparameting",
     "rgba",
     "rois",
+    "rosbag",
     "rosdep",
     "rosdistro",
+    "rosout",
     "rrtstar",
+    "rsample",
     "rviz",
+    "satitzky",
+    "Savitzky",
     "schematypens",
     "sideshift",
+    "softplus",
     "srvs",
     "stddev",
+    "tempature",
     "traj",
     "urdf",
+    "vander",
+    "Vandermonde",
     "velodyne",
     "wextra",
     "wmctrl",
     "wpedantic",
     "xacro",
+    "xclip",
     "xyzrpy",
     "zcvf",
-    "mppi",
-    "Qdin",
-    "Kohei",
-    "MPPI",
-    "Savitzky",
-    "satitzky",
-    "Golay",
-    "Vandermonde",
-    "michikuni",
-    "eguchi",
-    "vander",
-    "pinv",
-    "dtheta",
-    "cind",
-    "dind",
-    "ncourse",
-    "argmin",
-    "reparameting",
-    "tempature",
-    "rsample",
-    "coeffs",
-    "softplus",
-    "mpss"
+    "zenoh",
+    "zenohd"
   ]
 }
diff --git a/Dockerfile b/Dockerfile
@@ -13,10 +13,9 @@ RUN apt-get -y install ros-humble-rqt-graph
 ENV XDG_RUNTIME_DIR=/tmp/xdg
 ENV ROS_LOCALHOST_ONLY=0
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-ENV ROS_DOMAIN_ID=71
 ENV CYCLONEDDS_URI=file:///opt/autoware/cyclonedds.xml
 
-COPY cyclonedds.xml /opt/autoware/cyclonedds.xml
+COPY vehicle/cyclonedds.xml /opt/autoware/cyclonedds.xml
 
 FROM common AS dev
 

diff --git a/aichallenge/run_autoware.bash b/aichallenge/run_autoware.bash
@@ -1,6 +1,26 @@
 #!/bin/bash
 
+mode=${1}
+
+case "${mode}" in
+"awsim")
+    opts="simulation:=true use_sim_time:=true run_rviz:=true"
+    ;;
+"vehicle")
+    opts="simulation:=false use_sim_time:=false run_rviz:=false"
+    ;;
+"rosbag")
+    opts="simulation:=false use_sim_time:=true run_rviz:=true"
+    ;;
+*)
+    echo "invalid argument (use 'awsim' or 'vehicle' or 'rosbag')"
+    exit 1
+    ;;
+esac
+
 # shellcheck disable=SC1091
 source /aichallenge/workspace/install/setup.bash
 sudo ip link set multicast on lo
-ros2 launch aichallenge_system_launch aichallenge_system.launch.xml
+
+# shellcheck disable=SC2086
+ros2 launch aichallenge_system_launch aichallenge_system.launch.xml ${opts}
diff --git a/aichallenge/run_evaluation.bash b/aichallenge/run_evaluation.bash
@@ -24,7 +24,7 @@ sleep 20
 
 # Start Autoware
 echo "Start Autoware"
-ros2 launch aichallenge_system_launch aichallenge_system.launch.xml >autoware.log 2>&1 &
+ros2 launch aichallenge_system_launch aichallenge_system.launch.xml simulation:=true use_sim_time:=true run_rviz:=true >autoware.log 2>&1 &
 PID_AUTOWARE=$!
 sleep 10
 

diff --git a/aichallenge/workspace/run_aichallenge_launch_replay_rosbag.sh b/aichallenge/workspace/run_aichallenge_launch_replay_rosbag.sh
diff --git a/aichallenge/workspace/run_aichallenge_launch_run_vehicle.sh b/aichallenge/workspace/run_aichallenge_launch_run_vehicle.sh
diff --git a/aichallenge/workspace/run_aichallenge_launch_simulation.sh b/aichallenge/workspace/run_aichallenge_launch_simulation.sh
diff --git a/...ge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml b/...ge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
@@ -2,11 +2,11 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
-  <arg name="use_sim_time" default="false"/>
+  <arg name="simulation" description="used for sensor kit param"/>
+  <arg name="use_sim_time"/>
   <arg name="map_path" default="$(find-pkg-share aichallenge_submit_launch)/map"/>
   <arg name="vehicle_model" default="racing_kart"  description="vehicle model name"/>
   <arg name="sensor_model" default="racing_kart_sensor_kit" description="sensor model name"/>
-  <arg name="simulation" description="used for sensor kit param"/>
   <!-- Optional parameters -->
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>