feat(rviz): add rviz config for debugging (autowarefoundation#1213)

* feat(rviz): add rviz config for debugging Signed-off-by: satoshi-ota <[email protected]> * feat(launch): select rviz config name Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
mitukou1109 · Nov 7, 2024 · ab8914f · ab8914f
1 parent 9df54ff
commit ab8914f
Show file tree

Hide file tree

Showing 6 changed files with 13,669 additions and 3 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -39,7 +39,8 @@
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -36,7 +36,8 @@
   <arg name="launch_sensing_driver" default="false"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share autoware_carla_interface)/autoware_carla_interface.launch.xml"/>
   </group>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -28,7 +28,8 @@
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
   <!-- Vcu emulation -->