feat!: use tier4_vehicle_launch instead of vehicle_launch (backport a…

…utowarefoundation#538) (autowarefoundation#562) feat!: use tier4_vehicle_launch instead of vehicle_launch (autowarefoundation#538) * feat: use tier4_vehicle_launch * feat: delete * fix package.xml (cherry picked from commit ca53ef8) Co-authored-by: Hiroki OTA <[email protected]>
kminoda · Nov 15, 2022 · d8c20f6 · d8c20f6
1 parent 055dd91
commit d8c20f6
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Showing 11 changed files with 11 additions and 175 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -4,6 +4,8 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
@@ -29,10 +31,11 @@
 
   <!-- Vehicle -->
   <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="launch_vehicle_interface" value="true"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -44,11 +44,12 @@
 
   <!-- Vehicle -->
   <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -4,6 +4,8 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -30,10 +32,11 @@
     <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
     <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
 
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 

diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
@@ -23,7 +23,7 @@
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
-  <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>tier4_vehicle_launch</exec_depend>
   <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/vehicle_launch/CMakeLists.txt b/vehicle_launch/CMakeLists.txt
diff --git a/vehicle_launch/README.md b/vehicle_launch/README.md
diff --git a/vehicle_launch/launch/vehicle.launch.xml b/vehicle_launch/launch/vehicle.launch.xml
diff --git a/vehicle_launch/launch/vehicle_description.launch.xml b/vehicle_launch/launch/vehicle_description.launch.xml
diff --git a/vehicle_launch/package.xml b/vehicle_launch/package.xml
diff --git a/vehicle_launch/urdf/vehicle.xacro b/vehicle_launch/urdf/vehicle.xacro
diff --git a/vehicle_launch/vehicle_launch.drawio.svg b/vehicle_launch/vehicle_launch.drawio.svg