feat(simulator_launch): replace with tier4_simulator_launch (autoware…

…foundation#698) * fix(simulator_launch): use tier4_perception_launch Signed-off-by: kminoda <[email protected]> * feat(simulator_launch): replace with tier4_simulator_launch Signed-off-by: kminoda <[email protected]> * remove simulator_launch Signed-off-by: kminoda <[email protected]> * fix dependency Signed-off-by: kminoda <[email protected]> Signed-off-by: kminoda <[email protected]>
sykwer · Jan 18, 2023 · 761bbf0 · 761bbf0
1 parent 23d464b
commit 761bbf0
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Showing 8 changed files with 37 additions and 59 deletions.
diff --git a/..._launch/config/fault_injection.param.yaml → ...nfig/simulator/fault_injection.param.yaml b/..._launch/config/fault_injection.param.yaml → ...nfig/simulator/fault_injection.param.yaml
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="launch_dummy_perception"/>
+  <arg name="launch_dummy_vehicle"/>
+  <arg name="launch_dummy_localization"/>
+  <arg name="perception/enable_detection_failure"/>
+  <arg name="perception/enable_object_recognition"/>
+  <arg name="sensing/visible_range"/>
+  <arg name="vehicle_model"/>
+  <arg name="initial_engage_state"/>
+  <arg name="vehicle_info_param_file"/>
+
+  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+    <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
+    <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+
+    <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+  </include>
+</launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -60,7 +60,7 @@
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
 
-    <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
@@ -69,6 +69,7 @@
       <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
@@ -17,12 +17,12 @@
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
+  <exec_depend>tier4_simulator_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/simulator_launch/CMakeLists.txt b/simulator_launch/CMakeLists.txt
diff --git a/simulator_launch/README.md b/simulator_launch/README.md
diff --git a/simulator_launch/package.xml b/simulator_launch/package.xml
diff --git a/simulator_launch/simulator_launch.drawio.svg b/simulator_launch/simulator_launch.drawio.svg