feat: add is_simulation variable in autoware.launch.xml (autowarefoun…

…dation#889) (autowarefoundation#622) Signed-off-by: Takayuki Murooka <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]>
maxime-clem · Apr 12, 2024 · 412ba24 · 412ba24
1 parent ccd004a
commit 412ba24
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Showing 3 changed files with 6 additions and 1 deletion.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -41,6 +41,7 @@
   <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
+  <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -96,7 +97,9 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
+      <arg name="is_simulation" value="$(var is_simulation)"/>
+    </include>
   </group>
 
   <!-- Control -->

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -20,6 +20,7 @@
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="is_simulation" value="$(var is_simulation)"/>
 
     <!-- common -->
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -58,6 +58,7 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
+      <arg name="is_simulation" value="true"/>
     </include>
   </group>